Grabber for IDS-Imaging Ensenso's devices. More...

#include <pcl/io/ensenso_grabber.h>

Inheritance diagram for pcl::EnsensoGrabber:

Collaboration diagram for pcl::EnsensoGrabber:

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

	~EnsensoGrabber () noexcept override
	Destructor inherited from the Grabber interface. More...

int	enumDevices () const
	Searches for available devices. More...

bool	openDevice (const int device=0)
	Opens an Ensenso device. More...

bool	closeDevice ()
	Closes the Ensenso device. More...

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

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

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

bool	isTcpPortOpen () const
	Check if a TCP port is opened. More...

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

bool	configureCapture (const bool auto_exposure=true, const bool auto_gain=true, const int bining=1, const float exposure=0.32, const bool front_light=false, const int gain=1, const bool gain_boost=false, const bool hardware_gamma=false, const bool hdr=false, const int pixel_clock=10, const bool projector=true, const int target_brightness=80, const std::string trigger_mode="Software", const bool use_disparity_map_area_of_interest=false) const
	Configure Ensenso capture settings. More...

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

bool	initExtrinsicCalibration (const int grid_spacing) const
	Set up the Ensenso sensor and API to do 3D extrinsic calibration using the Ensenso 2D patterns. More...

bool	clearCalibrationPatternBuffer () const
	Clear calibration patterns buffer. More...

int	captureCalibrationPattern () const
	Captures a calibration pattern. More...

bool	estimateCalibrationPatternPose (Eigen::Affine3d &pattern_pose) const
	Estimate the calibration pattern pose. More...

bool	computeCalibrationMatrix (const std::vector< Eigen::Affine3d, Eigen::aligned_allocator< Eigen::Affine3d > > &robot_poses, std::string &json, const std::string setup="Moving", const std::string target="Hand", const Eigen::Affine3d &guess_tf=Eigen::Affine3d::Identity(), const bool pretty_format=true) const
	Computes the calibration matrix using the collected patterns and the robot poses vector. More...

bool	storeEEPROMExtrinsicCalibration () const
	Copy the link defined in the Link node of the nxTree to the EEPROM. More...

bool	clearEEPROMExtrinsicCalibration ()
	Clear the extrinsic calibration stored in the EEPROM by writing an identity matrix. More...

bool	setExtrinsicCalibration (const double euler_angle, Eigen::Vector3d &rotation_axis, const Eigen::Vector3d &translation, const std::string target="Hand") const
	Update Link node in NxLib tree. More...

bool	setExtrinsicCalibration (const std::string target="Hand")
	Update Link node in NxLib tree with an identity matrix. More...

bool	setExtrinsicCalibration (const Eigen::Affine3d &transformation, const std::string target="Hand")
	Update Link node in NxLib tree. More...

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

bool	openTcpPort (const int port=24000)
	Open TCP port to enable access via the nxTreeEdit program. More...

bool	closeTcpPort ()
	Close TCP port program. More...

std::string	getTreeAsJson (const bool pretty_format=true) const
	Returns the full NxLib tree as a JSON string. More...

std::string	getResultAsJson (const bool pretty_format=true) const
	Returns the Result node (of the last command) as a JSON string. More...

bool	jsonTransformationToEulerAngles (const std::string &json, double &x, double &y, double &z, double &w, double &p, double &r) const
	Get the Euler angles corresponding to a JSON string (an angle axis transformation) More...

bool	jsonTransformationToAngleAxis (const std::string json, double &alpha, Eigen::Vector3d &axis, Eigen::Vector3d &translation) const
	Get the angle axis parameters corresponding to a JSON string. More...

bool	jsonTransformationToMatrix (const std::string transformation, Eigen::Affine3d &matrix) const
	Get the JSON string corresponding to a 4x4 matrix. More...

bool	eulerAnglesTransformationToJson (const double x, const double y, const double z, const double w, const double p, const double r, std::string &json, const bool pretty_format=true) const
	Get the JSON string corresponding to the Euler angles transformation. More...

bool	angleAxisTransformationToJson (const double x, const double y, const double z, const double rx, const double ry, const double rz, const double alpha, std::string &json, const bool pretty_format=true) const
	Get the JSON string corresponding to an angle axis transformation. More...

bool	matrixTransformationToJson (const Eigen::Affine3d &matrix, std::string &json, const bool pretty_format=true) const
	Get the JSON string corresponding to a 4x4 matrix. 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
shared_ptr< const NxLibItem >	root_
	Reference to the NxLib tree root. More...

NxLibItem	camera_
	Reference to the camera tree. More...

Protected Member Functions
void	processGrabbing ()
	Continuously asks for images and or point clouds 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 ()

Static Protected Member Functions
static std::uint64_t	getPCLStamp (const double ensenso_stamp)
	Convert an Ensenso time stamp into a PCL/ROS time stamp. More...

static std::string	getOpenCVType (const int channels, const int bpe, const bool isFlt)
	Get OpenCV image type corresponding to the parameters given. More...

Protected Attributes
std::thread	grabber_thread_
	Grabber thread. More...

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

boost::signals2::signal< sig_cb_ensenso_images > *	images_signal_
	Boost images signal. More...

boost::signals2::signal< sig_cb_ensenso_point_cloud_images > *	point_cloud_images_signal_
	Boost images + point cloud signal. More...

bool	device_open_ {false}
	Whether an Ensenso device is opened or not. More...

bool	tcp_open_ {false}
	Whether an TCP port is opened or not. More...

bool	running_ {false}
	Whether an Ensenso device is running or not. More...

pcl::EventFrequency	frequency_
	Point cloud 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 IDS-Imaging Ensenso's devices.

The Ensenso SDK allow to use multiple Ensenso devices to produce a single cloud.
This feature is not implemented here, it is up to the user to configure multiple Ensenso cameras.

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 ensenso_grabber.h.

Constructor & Destructor Documentation

◆ EnsensoGrabber()

pcl::EnsensoGrabber::EnsensoGrabber ( )

Constructor.

◆ ~EnsensoGrabber()

pcl::EnsensoGrabber::~EnsensoGrabber ( )

overridenoexcept

Destructor inherited from the Grabber interface.

It never throws.

Member Function Documentation

◆ angleAxisTransformationToJson()

bool pcl::EnsensoGrabber::angleAxisTransformationToJson	(	const double	x,
		const double	y,
		const double	z,
		const double	rx,
		const double	ry,
		const double	rz,
		const double	alpha,
		std::string &	json,
		const bool	pretty_format = `true`
	)		const

Get the JSON string corresponding to an angle axis transformation.

Parameters

[in]	x	The X angle
[in]	y	The Y angle
[in]	z	The Z angle
[in]	rx	The X component of the Euler axis
[in]	ry	The Y component of the Euler axis
[in]	rz	The Z component of the Euler axis
[in]	alpha	The Euler rotation angle
[out]	json	A string containing the angle axis transformation in JSON format
[in]	pretty_format	JSON formatting style

Returns: True if successful, false otherwise

Warning: The units are meters and radians! (the Euler axis doesn't need to be normalized)

Note: See: transformation page in the EnsensoSDK documentation

◆ captureCalibrationPattern()

int pcl::EnsensoGrabber::captureCalibrationPattern ( ) const

Captures a calibration pattern.

Returns: the number of calibration patterns stored in the nxTree, -1 on error

Warning: A device must be opened and must not be running.

Note: You should use initExtrinsicCalibration before

◆ clearCalibrationPatternBuffer()

bool pcl::EnsensoGrabber::clearCalibrationPatternBuffer ( ) const

Clear calibration patterns buffer.

◆ clearEEPROMExtrinsicCalibration()

bool pcl::EnsensoGrabber::clearEEPROMExtrinsicCalibration ( )

Clear the extrinsic calibration stored in the EEPROM by writing an identity matrix.

Returns: True if successful, false otherwise

◆ closeDevice()

bool pcl::EnsensoGrabber::closeDevice ( )

Closes the Ensenso device.

Returns: True if successful, false otherwise

◆ closeTcpPort()

bool pcl::EnsensoGrabber::closeTcpPort ( )

Close TCP port program.

Returns: True if successful, false otherwise

Warning: If you do not close the TCP port the program might exit with the port still open, if it is the case use
ps -ef

and
kill PID

to kill the application and effectively close the port.

◆ computeCalibrationMatrix()

bool pcl::EnsensoGrabber::computeCalibrationMatrix	(	const std::vector< Eigen::Affine3d, Eigen::aligned_allocator< Eigen::Affine3d > > &	robot_poses,
		std::string &	json,
		const std::string	setup = `"Moving"`,
		const std::string	target = `"Hand"`,
		const Eigen::Affine3d &	guess_tf = `Eigen::Affine3d::Identity()`,
		const bool	pretty_format = `true`
	)		const

Computes the calibration matrix using the collected patterns and the robot poses vector.

Parameters

[in]	robot_poses	A list of robot poses, 1 for each pattern acquired (in the same order)
[out]	json	The extrinsic calibration data in JSON format
[in]	setup	Moving or Fixed, please refer to the Ensenso documentation
[in]	target	Please refer to the Ensenso documentation
[in]	guess_tf	Guess transformation for the calibration matrix (translation in meters)
[in]	pretty_format	JSON formatting style

Returns: True if successful, false otherwise

Warning: This can take up to 120 seconds

Note: Check the result with getResultAsJson. If you want to permanently store the result, use storeEEPROMExtrinsicCalibration.

◆ configureCapture()

bool pcl::EnsensoGrabber::configureCapture	(	const bool	auto_exposure = `true`,
		const bool	auto_gain = `true`,
		const int	bining = `1`,
		const float	exposure = `0.32`,
		const bool	front_light = `false`,
		const int	gain = `1`,
		const bool	gain_boost = `false`,
		const bool	hardware_gamma = `false`,
		const bool	hdr = `false`,
		const int	pixel_clock = `10`,
		const bool	projector = `true`,
		const int	target_brightness = `80`,
		const std::string	trigger_mode = `"Software"`,
		const bool	use_disparity_map_area_of_interest = `false`
	)		const

Configure Ensenso capture settings.

Parameters

[in]	auto_exposure	If set to yes, the exposure parameter will be ignored
[in]	auto_gain	If set to yes, the gain parameter will be ignored
[in]	bining	Pixel bining: 1, 2 or 4
[in]	exposure	In milliseconds, from 0.01 to 20 ms
[in]	front_light	Infrared front light (useful for calibration)
[in]	gain	Float between 1 and 4
[in]	gain_boost
[in]	hardware_gamma
[in]	hdr	High Dynamic Range (check compatibility with other options in Ensenso manual)
[in]	pixel_clock	In MegaHertz, from 5 to 85
[in]	projector	Use the central infrared projector or not
[in]	target_brightness	Between 40 and 210
[in]	trigger_mode
[in]	use_disparity_map_area_of_interest

Returns: True if successful, false otherwise

Note: See Capture tree item for more details about the parameters.

◆ enumDevices()

int pcl::EnsensoGrabber::enumDevices ( ) const

Searches for available devices.

Returns: The number of Ensenso devices connected

◆ estimateCalibrationPatternPose()

bool pcl::EnsensoGrabber::estimateCalibrationPatternPose ( Eigen::Affine3d & pattern_pose ) const

Estimate the calibration pattern pose.

Parameters

[out] pattern_pose the calibration pattern pose

Returns: true if successful, false otherwise

Warning: A device must be opened and must not be running.

Note: At least one calibration pattern must have been captured before, use captureCalibrationPattern before

◆ eulerAnglesTransformationToJson()

bool pcl::EnsensoGrabber::eulerAnglesTransformationToJson	(	const double	x,
		const double	y,
		const double	z,
		const double	w,
		const double	p,
		const double	r,
		std::string &	json,
		const bool	pretty_format = `true`
	)		const

Get the JSON string corresponding to the Euler angles transformation.

Parameters

[in]	x	The X translation
[in]	y	The Y translation
[in]	z	The Z translation
[in]	w	The yaW angle
[in]	p	The Pitch angle
[in]	r	The Roll angle
[out]	json	A string containing the Euler angles transformation in JSON format
[in]	pretty_format	JSON formatting style

Returns: True if successful, false otherwise

Warning: The units are meters and radians!

Note: See: transformation page in the EnsensoSDK documentation

◆ getFramesPerSecond()

float pcl::EnsensoGrabber::getFramesPerSecond ( ) const

overridevirtual

Obtain the number of frames per second (FPS)

Implements pcl::Grabber.

◆ getName()

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

overridevirtual

Get class name.

Returns: A string containing the class name

Implements pcl::Grabber.

◆ getOpenCVType()

static std::string pcl::EnsensoGrabber::getOpenCVType	(	const int	channels,
		const int	bpe,
		const bool	isFlt
	)

staticprotected

Get OpenCV image type corresponding to the parameters given.

Parameters

channels	number of channels in the image
bpe	bytes per element
isFlt	is float

Returns: the OpenCV type as a string

◆ getPCLStamp()

static std::uint64_t pcl::EnsensoGrabber::getPCLStamp ( const double ensenso_stamp )

staticprotected

Convert an Ensenso time stamp into a PCL/ROS time stamp.

Parameters

[in] ensenso_stamp

Returns: PCL stamp The Ensenso API returns the time elapsed from January 1st, 1601 (UTC); on Linux OS the reference time is January 1st, 1970 (UTC). See time-stamp page for more info about the time stamp conversion.

◆ getResultAsJson()

std::string pcl::EnsensoGrabber::getResultAsJson ( const bool pretty_format = true ) const

Returns the Result node (of the last command) as a JSON string.

Parameters

[in] pretty_format JSON formatting style

Returns: A string containing the Result node in JSON format

◆ getTreeAsJson()

std::string pcl::EnsensoGrabber::getTreeAsJson ( const bool pretty_format = true ) const

Returns the full NxLib tree as a JSON string.

Parameters

[in] pretty_format JSON formatting style

Returns: A string containing the NxLib tree in JSON format

◆ grabSingleCloud()

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

Capture a single point cloud and store it.

Parameters

[out] cloud The cloud to be filled

Returns: True if successful, false otherwise

Warning: A device must be opened and not running

◆ initExtrinsicCalibration()

bool pcl::EnsensoGrabber::initExtrinsicCalibration ( const int grid_spacing ) const

Set up the Ensenso sensor and API to do 3D extrinsic calibration using the Ensenso 2D patterns.

Parameters

[in] grid_spacing

Returns: True if successful, false otherwise

Configures the capture parameters to default values (eg: projector = false and front_light = true) Discards all previous patterns, configures grid_spacing

Warning: A device must be opened and must not be running.

Note: See the Ensenso manual for more information about the extrinsic calibration process.; GridSize item is protected in the NxTree, you can't modify it.

◆ isRunning()

bool pcl::EnsensoGrabber::isRunning ( ) const

overridevirtual

Check if the data acquisition is still running.

Returns: True if running, false otherwise

Implements pcl::Grabber.

◆ isTcpPortOpen()

bool pcl::EnsensoGrabber::isTcpPortOpen ( ) const

Check if a TCP port is opened.

Returns: True if open, false otherwise

◆ jsonTransformationToAngleAxis()

bool pcl::EnsensoGrabber::jsonTransformationToAngleAxis	(	const std::string	json,
		double &	alpha,
		Eigen::Vector3d &	axis,
		Eigen::Vector3d &	translation
	)		const

Get the angle axis parameters corresponding to a JSON string.

Parameters

[in]	json	A string containing the angle axis transformation in JSON format
[out]	alpha	Euler angle
[out]	axis	Axis vector
[out]	translation	Translation vector

Returns: True if successful, false otherwise

Warning: The units are meters and radians!

Note: See: transformation page in the EnsensoSDK documentation

◆ jsonTransformationToEulerAngles()

bool pcl::EnsensoGrabber::jsonTransformationToEulerAngles	(	const std::string &	json,
		double &	x,
		double &	y,
		double &	z,
		double &	w,
		double &	p,
		double &	r
	)		const

Get the Euler angles corresponding to a JSON string (an angle axis transformation)

Parameters

[in]	json	A string containing the angle axis transformation in JSON format
[out]	x	The X translation
[out]	y	The Y translation
[out]	z	The Z translation
[out]	w	The yaW angle
[out]	p	The Pitch angle
[out]	r	The Roll angle

Returns: True if successful, false otherwise

Warning: The units are meters and radians!

Note: See: transformation page in the EnsensoSDK documentation

◆ jsonTransformationToMatrix()

bool pcl::EnsensoGrabber::jsonTransformationToMatrix	(	const std::string	transformation,
		Eigen::Affine3d &	matrix
	)		const

Get the JSON string corresponding to a 4x4 matrix.

Parameters

[in]	transformation	The input transformation
[out]	matrix	A matrix containing JSON transformation

Returns: True if successful, false otherwise

Warning: The units are meters and radians!

Note: See: ConvertTransformation page in the EnsensoSDK documentation

◆ matrixTransformationToJson()

bool pcl::EnsensoGrabber::matrixTransformationToJson	(	const Eigen::Affine3d &	matrix,
		std::string &	json,
		const bool	pretty_format = `true`
	)		const

Get the JSON string corresponding to a 4x4 matrix.

Parameters

[in]	matrix	The input matrix
[out]	json	A string containing the matrix transformation in JSON format
[in]	pretty_format	JSON formatting style

Returns: True if successful, false otherwise

Warning: The units are meters and radians!

Note: See: ConvertTransformation page in the EnsensoSDK documentation

◆ openDevice()

bool pcl::EnsensoGrabber::openDevice ( const int device = 0 )

Opens an Ensenso device.

Parameters

[in] device The device ID to open

Returns: True if successful, false otherwise

◆ openTcpPort()

bool pcl::EnsensoGrabber::openTcpPort ( const int port = 24000 )

Open TCP port to enable access via the nxTreeEdit program.

Parameters

[in] port The port number

Returns: True if successful, false otherwise

◆ processGrabbing()

void pcl::EnsensoGrabber::processGrabbing ( )

protected

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

PCL time stamps are filled for both the images and clouds grabbed (see getPCLStamp)

Note: The cloud time stamp is the RAW image time stamp

◆ setExtrinsicCalibration() [1/3]

bool pcl::EnsensoGrabber::setExtrinsicCalibration	(	const double	euler_angle,
		Eigen::Vector3d &	rotation_axis,
		const Eigen::Vector3d &	translation,
		const std::string	target = `"Hand"`
	)		const

Update Link node in NxLib tree.

Parameters

[in]	target	"Hand" or "Workspace" for example
[in]	euler_angle
[in]	rotation_axis
[in]	translation	Translation in meters

Returns: True if successful, false otherwise

Warning: Translation are in meters, rotation angles in radians! (stored in mm/radians in Ensenso tree)

Note: If a calibration has been stored in the EEPROM, it is copied in the Link node at nxLib tree start. This method overwrites the Link node but does not write to the EEPROM.

More information on the parameters can be found in Link node section of the Ensenso manual.

The point cloud you get from the Ensenso is already transformed using this calibration matrix. Make sure it is the identity transformation if you want the original point cloud! (use clearEEPROMExtrinsicCalibration) Use storeEEPROMExtrinsicCalibration to permanently store this transformation

◆ setExtrinsicCalibration() [2/3]

bool pcl::EnsensoGrabber::setExtrinsicCalibration	(	const Eigen::Affine3d &	transformation,
		const std::string	target = `"Hand"`
	)

Update Link node in NxLib tree.

Parameters

[in]	transformation	Transformation matrix
[in]	target	"Hand" or "Workspace" for example

Returns: True if successful, false otherwise

Warning: Translation are in meters, rotation angles in radians! (stored in mm/radians in Ensenso tree)

Note: If a calibration has been stored in the EEPROM, it is copied in the Link node at nxLib tree start. This method overwrites the Link node but does not write to the EEPROM.

More information on the parameters can be found in Link node section of the Ensenso manual.

The point cloud you get from the Ensenso is already transformed using this calibration matrix. Make sure it is the identity transformation if you want the original point cloud! (use clearEEPROMExtrinsicCalibration) Use storeEEPROMExtrinsicCalibration to permanently store this transformation

◆ setExtrinsicCalibration() [3/3]

bool pcl::EnsensoGrabber::setExtrinsicCalibration ( const std::string target = "Hand" )

Update Link node in NxLib tree with an identity matrix.

Parameters

[in] target "Hand" or "Workspace" for example

Returns: True if successful, false otherwise

◆ start()

void pcl::EnsensoGrabber::start ( )

overridevirtual

Start the point cloud and or image acquisition.

Note: Opens device "0" if no device is open

Implements pcl::Grabber.

◆ stop()

void pcl::EnsensoGrabber::stop ( )

overridevirtual

Stop the data acquisition.

Implements pcl::Grabber.

◆ storeEEPROMExtrinsicCalibration()

bool pcl::EnsensoGrabber::storeEEPROMExtrinsicCalibration ( ) const

Copy the link defined in the Link node of the nxTree to the EEPROM.

Returns: True if successful, false otherwise Refer to setExtrinsicCalibration for more information about how the EEPROM works.
After calling computeCalibrationMatrix, this enables to permanently store the matrix.

Note: The target must be specified (computeCalibrationMatrix specifies the target)

Member Data Documentation

◆ camera_

NxLibItem pcl::EnsensoGrabber::camera_

Reference to the camera tree.

Warning: You must handle NxLib exceptions manually when playing with camera_ !

Definition at line 430 of file ensenso_grabber.h.

◆ device_open_

bool pcl::EnsensoGrabber::device_open_ {false}

protected

Whether an Ensenso device is opened or not.

Definition at line 446 of file ensenso_grabber.h.

◆ fps_mutex_

std::mutex pcl::EnsensoGrabber::fps_mutex_

mutableprotected

Mutual exclusion for FPS computation.

Definition at line 458 of file ensenso_grabber.h.

◆ frequency_

pcl::EventFrequency pcl::EnsensoGrabber::frequency_

protected

Point cloud capture/processing frequency.

Definition at line 455 of file ensenso_grabber.h.

◆ grabber_thread_

std::thread pcl::EnsensoGrabber::grabber_thread_

protected

Grabber thread.

Definition at line 434 of file ensenso_grabber.h.

◆ images_signal_

boost::signals2::signal<sig_cb_ensenso_images>* pcl::EnsensoGrabber::images_signal_

protected

Boost images signal.

Definition at line 440 of file ensenso_grabber.h.

◆ point_cloud_images_signal_

boost::signals2::signal<sig_cb_ensenso_point_cloud_images>* pcl::EnsensoGrabber::point_cloud_images_signal_

protected

Boost images + point cloud signal.

Definition at line 443 of file ensenso_grabber.h.

◆ point_cloud_signal_

boost::signals2::signal<sig_cb_ensenso_point_cloud>* pcl::EnsensoGrabber::point_cloud_signal_

protected

Boost point cloud signal.

Definition at line 437 of file ensenso_grabber.h.

◆ root_

shared_ptr<const NxLibItem> pcl::EnsensoGrabber::root_

Reference to the NxLib tree root.

Warning: You must handle NxLib exceptions manually when playing with root_ ! See ensensoExceptionHandling in ensenso_grabber.cpp

Definition at line 426 of file ensenso_grabber.h.

◆ running_

bool pcl::EnsensoGrabber::running_ {false}

protected

Whether an Ensenso device is running or not.

Definition at line 452 of file ensenso_grabber.h.

◆ tcp_open_

bool pcl::EnsensoGrabber::tcp_open_ {false}

protected

Whether an TCP port is opened or not.

Definition at line 449 of file ensenso_grabber.h.

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

pcl/io/ensenso_grabber.h

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EnsensoGrabber()

◆ ~EnsensoGrabber()

Member Function Documentation

◆ angleAxisTransformationToJson()

◆ captureCalibrationPattern()

◆ clearCalibrationPatternBuffer()

◆ clearEEPROMExtrinsicCalibration()

◆ closeDevice()

◆ closeTcpPort()

◆ computeCalibrationMatrix()

◆ configureCapture()

◆ enumDevices()

◆ estimateCalibrationPatternPose()

◆ eulerAnglesTransformationToJson()

◆ getFramesPerSecond()

◆ getName()

◆ getOpenCVType()

◆ getPCLStamp()

◆ getResultAsJson()

◆ getTreeAsJson()

◆ grabSingleCloud()

◆ initExtrinsicCalibration()

◆ isRunning()

◆ isTcpPortOpen()

◆ jsonTransformationToAngleAxis()

◆ jsonTransformationToEulerAngles()

◆ jsonTransformationToMatrix()

◆ matrixTransformationToJson()

◆ openDevice()

◆ openTcpPort()

◆ processGrabbing()

◆ setExtrinsicCalibration() [1/3]

◆ setExtrinsicCalibration() [2/3]

◆ setExtrinsicCalibration() [3/3]

◆ start()

◆ stop()

◆ storeEEPROMExtrinsicCalibration()

Member Data Documentation

◆ camera_

◆ device_open_

◆ fps_mutex_

◆ frequency_

◆ grabber_thread_

◆ images_signal_

◆ point_cloud_images_signal_

◆ point_cloud_signal_

◆ root_

◆ running_

◆ tcp_open_