Point Cloud Library (PCL)  1.8.1-dev
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pcl::DepthSenseGrabber Class Reference

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

#include <pcl/io/depth_sense_grabber.h>

+ Inheritance diagram for pcl::DepthSenseGrabber:

Public Types

enum  Mode { DepthSense_QVGA_30Hz = 0 }
 
enum  TemporalFilteringType { DepthSense_None = 0, DepthSense_Median = 1, DepthSense_Average = 2 }
 
typedef void( sig_cb_depth_sense_point_cloud )(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &)
 
typedef void( sig_cb_depth_sense_point_cloud_rgba )(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 () throw ()
 
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, 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 ()
 Constructor. More...
 
virtual ~Grabber () throw ()
 virtual destructor. More...
 
template<typename T >
boost::signals2::connection registerCallback (const boost::function< T > &callback)
 registers a callback function/method to a signal with the corresponding signature More...
 
template<typename T >
bool providesCallback () const
 indicates whether a signal with given parameter-type exists or not 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
 
template<typename T >
int num_slots () const
 
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,
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 57 of file depth_sense_grabber.h.

Member Typedef Documentation

typedef void( pcl::DepthSenseGrabber::sig_cb_depth_sense_point_cloud)(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &)

Definition at line 64 of file depth_sense_grabber.h.

typedef void( pcl::DepthSenseGrabber::sig_cb_depth_sense_point_cloud_rgba)(const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &)

Definition at line 68 of file depth_sense_grabber.h.

Member Enumeration Documentation

Enumerator
DepthSense_QVGA_30Hz 

Definition at line 70 of file depth_sense_grabber.h.

Enumerator
DepthSense_None 
DepthSense_Median 
DepthSense_Average 

Definition at line 75 of file depth_sense_grabber.h.

Constructor & Destructor Documentation

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_iddevice identifier, which might be a serial number, an index (with '#' prefix), or an empty string (to select the first available device)
virtual pcl::DepthSenseGrabber::~DepthSenseGrabber ( )
throw (
)
virtual

Member Function Documentation

void pcl::DepthSenseGrabber::disableTemporalFiltering ( )

Disable temporal filtering.

void pcl::DepthSenseGrabber::enableTemporalFiltering ( TemporalFilteringType  type,
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.

std::string pcl::DepthSenseGrabber::getDeviceSerialNumber ( ) const

Get the serial number of device captured by the grabber.

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

returns fps.

0 if trigger based.

Implements pcl::Grabber.

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 110 of file depth_sense_grabber.h.

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.

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).

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.

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

Definition at line 148 of file depth_sense_grabber.h.


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