#include <pcl/io/depth_sense/depth_sense_grabber_impl.h>

Collaboration diagram for pcl::io::depth_sense::DepthSenseGrabberImpl:

Public Types
using	sig_cb_depth_sense_point_cloud = DepthSenseGrabber::sig_cb_depth_sense_point_cloud

using	sig_cb_depth_sense_point_cloud_rgba = DepthSenseGrabber::sig_cb_depth_sense_point_cloud_rgba

Public Member Functions
	DepthSenseGrabberImpl (DepthSenseGrabber *parent, const std::string &device_id)

	~DepthSenseGrabberImpl () noexcept

void	start ()

void	stop ()

float	getFramesPerSecond () const

void	setConfidenceThreshold (int threshold)

void	enableTemporalFiltering (DepthSenseGrabber::TemporalFilteringType type, std::size_t window_size)

void	setCameraParameters (const DepthSense::StereoCameraParameters &parameters)

void	configureDepthNode (DepthSense::DepthNode node) const

void	configureColorNode (DepthSense::ColorNode node) const

void	onDepthDataReceived (DepthSense::DepthNode node, DepthSense::DepthNode::NewSampleReceivedData data)
	A callback for processing depth data. More...

void	onColorDataReceived (DepthSense::ColorNode node, DepthSense::ColorNode::NewSampleReceivedData data)
	A callback for processing color data. More...

template<typename Point >
void	computeXYZ (PointCloud< Point > &cloud)

Public Attributes
DepthSenseGrabber *	p_
	Parent grabber. More...

std::string	device_id_
	Serial number of the device captured by this grabber. More...

bool	is_running_

int	confidence_threshold_

DepthSenseGrabber::TemporalFilteringType	temporal_filtering_type_

std::shared_ptr< DepthSense::ProjectionHelper >	projection_

boost::signals2::signal< sig_cb_depth_sense_point_cloud > *	point_cloud_signal_
	Signal to indicate whether new XYZ cloud is available. More...

boost::signals2::signal< sig_cb_depth_sense_point_cloud_rgba > *	point_cloud_rgba_signal_
	Signal to indicate whether new XYZRGBA cloud is available. More...

bool	need_xyz_
	Indicates whether there are subscribers for PointXYZ signal. More...

bool	need_xyzrgba_
	Indicates whether there are subscribers for PointXYZRGBA signal. More...

EventFrequency	frequency_

std::mutex	fps_mutex_

std::vector< std::uint8_t >	color_data_
	Temporary buffer to store color data. More...

std::shared_ptr< pcl::io::Buffer< float > >	depth_buffer_

Static Public Attributes
static const int	FRAMERATE = 30

static const int	WIDTH = 320

static const int	HEIGHT = 240

static const int	SIZE = WIDTH * HEIGHT

static const int	COLOR_WIDTH = 640

static const int	COLOR_HEIGHT = 480

static const int	COLOR_SIZE = COLOR_WIDTH * COLOR_HEIGHT

Detailed Description

Definition at line 58 of file depth_sense_grabber_impl.h.

Member Typedef Documentation

◆ sig_cb_depth_sense_point_cloud

using pcl::io::depth_sense::DepthSenseGrabberImpl::sig_cb_depth_sense_point_cloud = DepthSenseGrabber::sig_cb_depth_sense_point_cloud

Definition at line 74 of file depth_sense_grabber_impl.h.

◆ sig_cb_depth_sense_point_cloud_rgba

using pcl::io::depth_sense::DepthSenseGrabberImpl::sig_cb_depth_sense_point_cloud_rgba = DepthSenseGrabber::sig_cb_depth_sense_point_cloud_rgba

Definition at line 75 of file depth_sense_grabber_impl.h.

Constructor & Destructor Documentation

◆ DepthSenseGrabberImpl()

pcl::io::depth_sense::DepthSenseGrabberImpl::DepthSenseGrabberImpl	(	DepthSenseGrabber *	parent,
		const std::string &	device_id
	)

◆ ~DepthSenseGrabberImpl()

pcl::io::depth_sense::DepthSenseGrabberImpl::~DepthSenseGrabberImpl ( )

noexcept

Member Function Documentation

◆ computeXYZ()

template<typename Point >

void pcl::io::depth_sense::DepthSenseGrabberImpl::computeXYZ ( PointCloud< Point > & cloud )

◆ configureColorNode()

void pcl::io::depth_sense::DepthSenseGrabberImpl::configureColorNode ( DepthSense::ColorNode node ) const

◆ configureDepthNode()

void pcl::io::depth_sense::DepthSenseGrabberImpl::configureDepthNode ( DepthSense::DepthNode node ) const

◆ enableTemporalFiltering()

void pcl::io::depth_sense::DepthSenseGrabberImpl::enableTemporalFiltering	(	DepthSenseGrabber::TemporalFilteringType	type,
		std::size_t	window_size
	)

◆ getFramesPerSecond()

float pcl::io::depth_sense::DepthSenseGrabberImpl::getFramesPerSecond ( ) const

◆ onColorDataReceived()

void pcl::io::depth_sense::DepthSenseGrabberImpl::onColorDataReceived	(	DepthSense::ColorNode	node,
		DepthSense::ColorNode::NewSampleReceivedData	data
	)

A callback for processing color data.

It is supposed to be called from the DepthSense::Context thread that is managed by DepthSenseDeviceManager.

◆ onDepthDataReceived()

void pcl::io::depth_sense::DepthSenseGrabberImpl::onDepthDataReceived	(	DepthSense::DepthNode	node,
		DepthSense::DepthNode::NewSampleReceivedData	data
	)

A callback for processing depth data.

It is supposed to be called from the DepthSense::Context thread that is managed by DepthSenseDeviceManager.

◆ setCameraParameters()

void pcl::io::depth_sense::DepthSenseGrabberImpl::setCameraParameters ( const DepthSense::StereoCameraParameters & parameters )

◆ setConfidenceThreshold()

void pcl::io::depth_sense::DepthSenseGrabberImpl::setConfidenceThreshold ( int threshold )

◆ start()

void pcl::io::depth_sense::DepthSenseGrabberImpl::start ( )

◆ stop()

void pcl::io::depth_sense::DepthSenseGrabberImpl::stop ( )

Member Data Documentation

◆ color_data_

std::vector<std::uint8_t> pcl::io::depth_sense::DepthSenseGrabberImpl::color_data_

Temporary buffer to store color data.

Definition at line 94 of file depth_sense_grabber_impl.h.

◆ COLOR_HEIGHT

const int pcl::io::depth_sense::DepthSenseGrabberImpl::COLOR_HEIGHT = 480

static

Definition at line 103 of file depth_sense_grabber_impl.h.

◆ COLOR_SIZE

const int pcl::io::depth_sense::DepthSenseGrabberImpl::COLOR_SIZE = COLOR_WIDTH * COLOR_HEIGHT

static

Definition at line 104 of file depth_sense_grabber_impl.h.

◆ COLOR_WIDTH

const int pcl::io::depth_sense::DepthSenseGrabberImpl::COLOR_WIDTH = 640

static

Definition at line 102 of file depth_sense_grabber_impl.h.

◆ confidence_threshold_

int pcl::io::depth_sense::DepthSenseGrabberImpl::confidence_threshold_

Definition at line 69 of file depth_sense_grabber_impl.h.

◆ depth_buffer_

std::shared_ptr<pcl::io::Buffer<float> > pcl::io::depth_sense::DepthSenseGrabberImpl::depth_buffer_

Definition at line 96 of file depth_sense_grabber_impl.h.

◆ device_id_

std::string pcl::io::depth_sense::DepthSenseGrabberImpl::device_id_

Serial number of the device captured by this grabber.

Definition at line 65 of file depth_sense_grabber_impl.h.

◆ fps_mutex_

std::mutex pcl::io::depth_sense::DepthSenseGrabberImpl::fps_mutex_

mutable

Definition at line 91 of file depth_sense_grabber_impl.h.

◆ FRAMERATE

const int pcl::io::depth_sense::DepthSenseGrabberImpl::FRAMERATE = 30

static

Definition at line 98 of file depth_sense_grabber_impl.h.

◆ frequency_

EventFrequency pcl::io::depth_sense::DepthSenseGrabberImpl::frequency_

Definition at line 90 of file depth_sense_grabber_impl.h.

◆ HEIGHT

const int pcl::io::depth_sense::DepthSenseGrabberImpl::HEIGHT = 240

static

Definition at line 100 of file depth_sense_grabber_impl.h.

◆ is_running_

bool pcl::io::depth_sense::DepthSenseGrabberImpl::is_running_

Definition at line 67 of file depth_sense_grabber_impl.h.

◆ need_xyz_

bool pcl::io::depth_sense::DepthSenseGrabberImpl::need_xyz_

Indicates whether there are subscribers for PointXYZ signal.

This is computed and stored on start()

Definition at line 84 of file depth_sense_grabber_impl.h.

◆ need_xyzrgba_

bool pcl::io::depth_sense::DepthSenseGrabberImpl::need_xyzrgba_

Indicates whether there are subscribers for PointXYZRGBA signal.

This is computed and stored on start()

Definition at line 88 of file depth_sense_grabber_impl.h.

◆ p_

DepthSenseGrabber* pcl::io::depth_sense::DepthSenseGrabberImpl::p_

Parent grabber.

Definition at line 62 of file depth_sense_grabber_impl.h.

◆ point_cloud_rgba_signal_

boost::signals2::signal<sig_cb_depth_sense_point_cloud_rgba>* pcl::io::depth_sense::DepthSenseGrabberImpl::point_cloud_rgba_signal_

Signal to indicate whether new XYZRGBA cloud is available.

Definition at line 80 of file depth_sense_grabber_impl.h.

◆ point_cloud_signal_

boost::signals2::signal<sig_cb_depth_sense_point_cloud>* pcl::io::depth_sense::DepthSenseGrabberImpl::point_cloud_signal_

Signal to indicate whether new XYZ cloud is available.

Definition at line 78 of file depth_sense_grabber_impl.h.

◆ projection_

std::shared_ptr<DepthSense::ProjectionHelper> pcl::io::depth_sense::DepthSenseGrabberImpl::projection_

Definition at line 72 of file depth_sense_grabber_impl.h.

◆ SIZE

const int pcl::io::depth_sense::DepthSenseGrabberImpl::SIZE = WIDTH * HEIGHT

static

Definition at line 101 of file depth_sense_grabber_impl.h.

◆ temporal_filtering_type_

DepthSenseGrabber::TemporalFilteringType pcl::io::depth_sense::DepthSenseGrabberImpl::temporal_filtering_type_

Definition at line 70 of file depth_sense_grabber_impl.h.

◆ WIDTH

const int pcl::io::depth_sense::DepthSenseGrabberImpl::WIDTH = 320

static

Definition at line 99 of file depth_sense_grabber_impl.h.

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

pcl/io/depth_sense/depth_sense_grabber_impl.h

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ sig_cb_depth_sense_point_cloud

◆ sig_cb_depth_sense_point_cloud_rgba

Constructor & Destructor Documentation

◆ DepthSenseGrabberImpl()

◆ ~DepthSenseGrabberImpl()

Member Function Documentation

◆ computeXYZ()

◆ configureColorNode()

◆ configureDepthNode()

◆ enableTemporalFiltering()

◆ getFramesPerSecond()

◆ onColorDataReceived()

◆ onDepthDataReceived()

◆ setCameraParameters()

◆ setConfidenceThreshold()

◆ start()

◆ stop()

Member Data Documentation

◆ color_data_

◆ COLOR_HEIGHT

◆ COLOR_SIZE

◆ COLOR_WIDTH

◆ confidence_threshold_

◆ depth_buffer_

◆ device_id_

◆ fps_mutex_

◆ FRAMERATE

◆ frequency_

◆ HEIGHT

◆ is_running_

◆ need_xyz_

◆ need_xyzrgba_

◆ p_

◆ point_cloud_rgba_signal_

◆ point_cloud_signal_

◆ projection_

◆ SIZE

◆ temporal_filtering_type_

◆ WIDTH