Point Cloud Library (PCL)
1.10.1
pcl
io
depth_sense_grabber.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2014-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <pcl/io/grabber.h>
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#include <pcl/point_cloud.h>
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#include <
pcl/point_types.h
>
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namespace
pcl
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{
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// Forward declaration of a class that contains actual grabber implementation
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namespace
io {
namespace
depth_sense {
struct
DepthSenseGrabberImpl; } }
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/** Grabber for DepthSense devices (e.g. Creative Senz3D, SoftKinetic DS325).
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*
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* Requires [SoftKinetic DepthSense SDK](http://www.softkinetic.com/Support/Download).
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*
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* \author Sergey Alexandrov
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* \ingroup io */
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class
PCL_EXPORTS
DepthSenseGrabber
:
public
Grabber
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{
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public
:
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using
Ptr
=
shared_ptr<DepthSenseGrabber>
;
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using
ConstPtr
=
shared_ptr<const DepthSenseGrabber>
;
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using
sig_cb_depth_sense_point_cloud
= void(
const
pcl::PointCloud<pcl::PointXYZ>::ConstPtr
&);
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using
sig_cb_depth_sense_point_cloud_rgba
= void(
const
pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr
&);
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enum
Mode
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{
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DepthSense_QVGA_30Hz = 0,
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};
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enum
TemporalFilteringType
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{
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DepthSense_None = 0,
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DepthSense_Median = 1,
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DepthSense_Average = 2,
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};
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/** Create a grabber for a DepthSense device.
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*
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* The grabber "captures" the device, making it impossible for other
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* grabbers to interact with it. The device is "released" when the
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* grabber is destructed.
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*
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* This will throw pcl::IOException if there are no free devices that
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* match the supplied \a device_id.
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*
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* \param[in] device_id device identifier, which might be a serial
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* number, an index (with '#' prefix), or an empty string (to select the
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* first available device)
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*/
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DepthSenseGrabber
(
const
std::string& device_id =
""
);
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virtual
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~
DepthSenseGrabber
() noexcept;
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virtual
void
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start ();
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virtual
void
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stop ();
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virtual
bool
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isRunning () const;
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virtual std::
string
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getName ()
const
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{
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return
(std::string (
"DepthSenseGrabber"
));
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}
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virtual
float
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getFramesPerSecond ()
const
;
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/** Set the confidence threshold for depth data.
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*
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* Each pixel in a depth image output by the device has an associated
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* confidence value. The higher this value is, the more reliable the
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* datum is.
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*
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* The depth pixels (and their associated 3D points) are filtered based
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* on the confidence value. Those that are below the threshold are
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* discarded (i.e. their coordinates are set to NaN). */
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void
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setConfidenceThreshold (
int
threshold);
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/** Enable temporal filtering of the depth data received from the device.
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*
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* The window size parameter is not relevant for `DepthSense_None`
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* filtering type. */
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void
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enableTemporalFiltering (TemporalFilteringType type, std::size_t window_size = 1);
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/** Disable temporal filtering. */
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void
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disableTemporalFiltering ();
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/** Get the serial number of device captured by the grabber. */
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std::string
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getDeviceSerialNumber ()
const
;
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private
:
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pcl::io::depth_sense::DepthSenseGrabberImpl
* p_;
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friend
struct
pcl::io::depth_sense::DepthSenseGrabberImpl
;
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};
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}
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition:
convolution.h:45
point_types.h
pcl::DepthSenseGrabber::sig_cb_depth_sense_point_cloud_rgba
void(const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &) sig_cb_depth_sense_point_cloud_rgba
Definition:
depth_sense_grabber.h:65
pcl::Grabber
Grabber interface for PCL 1.x device drivers.
Definition:
grabber.h:57
pcl::DepthSenseGrabber
Grabber for DepthSense devices (e.g.
Definition:
depth_sense_grabber.h:56
pcl::DepthSenseGrabber::Mode
Mode
Definition:
depth_sense_grabber.h:67
pcl::DepthSenseGrabber::Ptr
shared_ptr< DepthSenseGrabber > Ptr
Definition:
depth_sense_grabber.h:61
pcl::DepthSenseGrabber::ConstPtr
shared_ptr< const DepthSenseGrabber > ConstPtr
Definition:
depth_sense_grabber.h:62
pcl::DepthSenseGrabber::TemporalFilteringType
TemporalFilteringType
Definition:
depth_sense_grabber.h:72
pcl::DepthSenseGrabber::sig_cb_depth_sense_point_cloud
void(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &) sig_cb_depth_sense_point_cloud
Definition:
depth_sense_grabber.h:64
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition:
point_cloud.h:416
pcl::io::depth_sense::DepthSenseGrabberImpl
Definition:
depth_sense_grabber_impl.h:58
PCL_EXPORTS
#define PCL_EXPORTS
Definition:
pcl_macros.h:271
pcl::shared_ptr
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition:
pcl_macros.h:108