Point Cloud Library (PCL)  1.9.1-dev
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pcl::RealSenseGrabber Class Reference

#include <pcl/io/real_sense_grabber.h>

+ Inheritance diagram for pcl::RealSenseGrabber:

Classes

struct  Mode
 A descriptor for capturing mode. More...
 

Public Types

enum  TemporalFilteringType { RealSense_None = 0, RealSense_Median = 1, RealSense_Average = 2 }
 
using Ptr = boost::shared_ptr< RealSenseGrabber >
 
using sig_cb_real_sense_point_cloud = void(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &)
 
using sig_cb_real_sense_point_cloud_rgba = void(const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &)
 

Public Member Functions

 RealSenseGrabber (const std::string &device_id="", const Mode &mode=Mode(), bool strict=false)
 Create a grabber for a RealSense device. More...
 
virtual ~RealSenseGrabber () 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 (unsigned int threshold)
 Set the confidence threshold for depth data. More...
 
void enableTemporalFiltering (TemporalFilteringType type, size_t window_size)
 Enable temporal filtering of the depth data received from the device. More...
 
void disableTemporalFiltering ()
 Disable temporal filtering. More...
 
const std::string & getDeviceSerialNumber () const
 Get the serial number of device captured by the grabber. More...
 
std::vector< ModegetAvailableModes (bool only_depth=false) const
 Get a list of capturing modes supported by the PXC device controlled by this grabber. More...
 
void setMode (const Mode &mode, bool strict=false)
 Set desired capturing mode. More...
 
const ModegetMode () const
 Get currently active capturing mode. 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 std::function< T > &callback)
 registers a callback function/method to a signal with the corresponding signature More...
 
template<typename T , template< typename > class FunctionT>
boost::signals2::connection registerCallback (const FunctionT< 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...
 

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

Definition at line 63 of file real_sense_grabber.h.

Member Typedef Documentation

◆ Ptr

using pcl::RealSenseGrabber::Ptr = boost::shared_ptr<RealSenseGrabber>

Definition at line 68 of file real_sense_grabber.h.

◆ sig_cb_real_sense_point_cloud

Definition at line 70 of file real_sense_grabber.h.

◆ sig_cb_real_sense_point_cloud_rgba

Definition at line 71 of file real_sense_grabber.h.

Member Enumeration Documentation

◆ TemporalFilteringType

Enumerator
RealSense_None 
RealSense_Median 
RealSense_Average 

Definition at line 113 of file real_sense_grabber.h.

Constructor & Destructor Documentation

◆ RealSenseGrabber()

pcl::RealSenseGrabber::RealSenseGrabber ( const std::string &  device_id = "",
const Mode mode = Mode(),
bool  strict = false 
)

Create a grabber for a RealSense 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::io::IOException if there are no free devices that match the supplied device_id.

Parameters
[in]device_iddevice identifier, which can be a serial number, a zero-based index (with '#' prefix), or an empty string (to select the first available device)
[in]modedesired framerate and stream resolution (see Mode). If the default is supplied, then the mode closest to VGA at 30 Hz will be chosen.
[in]strictif set to true, an exception will be thrown if device does not support exactly the mode requested. Otherwise the closest available mode is selected.

◆ ~RealSenseGrabber()

virtual pcl::RealSenseGrabber::~RealSenseGrabber ( )
throw (
)
virtual

Member Function Documentation

◆ disableTemporalFiltering()

void pcl::RealSenseGrabber::disableTemporalFiltering ( )

Disable temporal filtering.

◆ enableTemporalFiltering()

void pcl::RealSenseGrabber::enableTemporalFiltering ( TemporalFilteringType  type,
size_t  window_size 
)

Enable temporal filtering of the depth data received from the device.

The window size parameter is not relevant for RealSense_None filtering type.

Note
if the grabber is running and the new parameters are different from the current parameters, grabber will be restarted.

◆ getAvailableModes()

std::vector<Mode> pcl::RealSenseGrabber::getAvailableModes ( bool  only_depth = false) const

Get a list of capturing modes supported by the PXC device controlled by this grabber.

Parameters
[in]only_depthlist depth-only modes
Note
: this list exclude modes where framerates of the depth and color streams do not match.

◆ getDeviceSerialNumber()

const std::string& pcl::RealSenseGrabber::getDeviceSerialNumber ( ) const

Get the serial number of device captured by the grabber.

◆ getFramesPerSecond()

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

returns fps.

0 if trigger based.

Implements pcl::Grabber.

◆ getMode()

const Mode& pcl::RealSenseGrabber::getMode ( ) const
inline

Get currently active capturing mode.

Note
: capturing mode is selected when start() is called; output of this function before grabber was started is undefined.

Definition at line 208 of file real_sense_grabber.h.

◆ getName()

virtual std::string pcl::RealSenseGrabber::getName ( ) const
inlinevirtual

returns the name of the concrete subclass.

Returns
the name of the concrete driver.

Implements pcl::Grabber.

Definition at line 153 of file real_sense_grabber.h.

◆ isRunning()

virtual bool pcl::RealSenseGrabber::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::RealSenseGrabber::setConfidenceThreshold ( unsigned int  threshold)

Set the confidence threshold for depth data.

Valid range is [0..15]. Discarded points will have their coordinates set to NaNs).

◆ setMode()

void pcl::RealSenseGrabber::setMode ( const Mode mode,
bool  strict = false 
)

Set desired capturing mode.

Note
if the grabber is running and the new mode is different the one requested previously, grabber will be restarted.

◆ start()

virtual void pcl::RealSenseGrabber::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::RealSenseGrabber::stop ( )
virtual

For devices that are streaming, the streams are stopped.

This method has no effect for triggered devices.

Implements pcl::Grabber.


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