Point Cloud Library (PCL) 1.15.0
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List of all members | Public Types | Public Member Functions | Public Attributes | Static Public Attributes
pcl::io::depth_sense::DepthSenseGrabberImpl Struct Reference

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

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.
 
void onColorDataReceived (DepthSense::ColorNode node, DepthSense::ColorNode::NewSampleReceivedData data)
 A callback for processing color data.
 
template<typename Point >
void computeXYZ (PointCloud< Point > &cloud)
 

Public Attributes

DepthSenseGrabber * p_
 Parent grabber.
 
std::string device_id_
 Serial number of the device captured by this grabber.
 
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.
 
boost::signals2::signal< sig_cb_depth_sense_point_cloud_rgba > * point_cloud_rgba_signal_
 Signal to indicate whether new XYZRGBA cloud is available.
 
bool need_xyz_
 Indicates whether there are subscribers for PointXYZ signal.
 
bool need_xyzrgba_
 Indicates whether there are subscribers for PointXYZRGBA signal.
 
EventFrequency frequency_
 
std::mutex fps_mutex_
 
std::vector< std::uint8_t > color_data_
 Temporary buffer to store color data.
 
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: