Main class for orsens camera. More...

#include <orsens.h>

Public Types
enum	CaptureMode { CAPTURE_DEPTH_ONLY = 0, CAPTURE_LEFT_ONLY, CAPTURE_DEPTH_LEFT, CAPTURE_LEFT_RIGHT }
Public Member Functions
float	directionToImagePoint (uint16_t x, uint16_t y)
float	directionToImageRect (Rect rect)
uint16_t	disp2dist (uint8_t disp)
uint8_t	disparityAtImagePoint (uint16_t x, uint16_t y)
uint8_t	dist2disp (uint16_t dist)
Scalar	dist2rgb (uint16_t dist)
uint16_t	distanceToImagePoint (uint16_t x, uint16_t y)
uint16_t	distanceToImageRect (Rect rect)
bool	filterDisp (uint16_t maxSpeckleSize=1000, uint8_t newVal=0)
CameraParameters	getARCameraParametres (uint8_t camera_num)
Size	getColorSize ()
Mat	getDepth (bool depth8=false)
Size	getDepthSize ()
Mat	getDisp (bool colored=false)
ScenePoint	getFarestPoint (uint16_t width=100)
std::vector< Human >	getHumans ()
Mat	getLeft (bool gray=false)
vector< Marker >	getMarkers (uint8_t camera_num=0, float marker_size=0.04)
uint16_t	getMaxDistance ()
uint16_t	getMinDistance ()
bool	getNearestHumanBiometrics (Human &human)
Mat	getPointCloud ()
uint8_t	getRate ()
Mat	getRight ()
Mat	getSceneGrid (vector< float > cols, vector< float > rows, int dist_th=3000, float occ_th=0.1, float pts_th=0.01)
SceneInfo	getSceneInfo (bool nearest_obstacle=true, bool nearest_point=true)
bool	grabSensorData ()
int32_t	maxWorldX (uint16_t x)
int32_t	maxWorldY (uint16_t y)
	Orsens ()
bool	removeFloor ()
void	setRoi (Rect)
bool	start (CaptureMode capture_mode=CAPTURE_DEPTH_ONLY, string data_path="../../data", uint16_t color_width=640, uint16_t depth_width=640, uint8_t color_rate=15, uint8_t depth_rate=15, bool compress_color=false, bool compress_depth=false, float fov=60.0, uint16_t baseline=60)
bool	stop ()
Point3i	worldPointAtImagePoint (uint16_t x, uint16_t y)
Point3f	worldPointAtImagePointM (uint16_t x, uint16_t y)
	~Orsens ()
Static Public Member Functions
static CaptureMode	captureModeFromString (const std::string &str)
Public Attributes
CaptureMode	capture_mode_
Private Member Functions
bool	makeDepth ()
bool	makeGray ()
bool	makeNearestDistance ()
bool	makeNearestObstacle ()
bool	makeNearestPoint ()
bool	segmentFloor ()
Private Attributes
uint16_t	baseline_
uint16_t	color_height_
uint8_t	color_rate_
uint16_t	color_width_
uint16_t	cx_
uint16_t	cy_
string	data_path_
Mat	depth8_
Mat	depth_
uint16_t	depth_height_
uint8_t	depth_rate_
uint16_t	depth_width_
Mat	disp_
Mat	disp_raw_
Mat	disp_raw_prev_
Mat	disp_src_
uint16_t	focal_
float	fov_
bool	got_depth_
bool	got_gray_
bool	got_seg_mask
std::vector< Human >	humans_
Mat	left_
Mat	left_gray_
uint16_t	left_height_
uint16_t	left_width_
uint16_t	max_distance_
uint16_t	min_distance_
Mat	point_cloud_
Mat	right_
Mat	right_gray_
Rect	roi_
SceneInfo	scene_info_
Mat	segmentation_mask_
uint16_t	zdtable_ [DISPARITY_COUNT]
Static Private Attributes
static const int	DISPARITY_COUNT = 256
static const int	NO_ANGLE = 361
static const int	NO_DISTANCE = 0

Detailed Description

Main class for orsens camera.

Definition at line 162 of file orsens.h.

Member Enumeration Documentation

enum Orsens::CaptureMode

Enumerator:

CAPTURE_DEPTH_ONLY
CAPTURE_LEFT_ONLY
CAPTURE_DEPTH_LEFT
CAPTURE_LEFT_RIGHT

Definition at line 224 of file orsens.h.

Constructor & Destructor Documentation

Orsens::Orsens ( ) [inline]

empty constructor

Definition at line 221 of file orsens.h.

Orsens::~Orsens ( ) [inline]

Definition at line 222 of file orsens.h.

Member Function Documentation

static CaptureMode Orsens::captureModeFromString ( const std::string & str ) [static]

use this if you want to set the value of CaptureMode in ros launch

possible values: depth_only, left_only, depth_left and left_right

float Orsens::directionToImagePoint	(	uint16_t	x,
		uint16_t	y
	)

returs directon to image point

float Orsens::directionToImageRect ( Rect rect )

returns direction to image rectangle

uint16_t Orsens::disp2dist ( uint8_t disp )

returns distance for given disparity

Parameters:

disp	disparity (0-255)

uint8_t Orsens::disparityAtImagePoint	(	uint16_t	x,
		uint16_t	y
	)

returns disparity at image point

uint8_t Orsens::dist2disp ( uint16_t dist )

returns diparity for given distance

Parameters:

dist	distance in millimetres

Scalar Orsens::dist2rgb ( uint16_t dist )

returns rgb value for given distance

Parameters:

dist	distance in millimetres

uint16_t Orsens::distanceToImagePoint	(	uint16_t	x,
		uint16_t	y
	)

returns distance to image point in millimetres

uint16_t Orsens::distanceToImageRect ( Rect rect )

returns distance to image rectangle in millimetres

bool Orsens::filterDisp	(	uint16_t	maxSpeckleSize = `1000`,
		uint8_t	newVal = `0`
	)

removes speckles

Parameters:

maxSpeckleSize	The maximum speckle size to consider it a speckle
newVal	The disparity value used to paint-off the speckles

CameraParameters Orsens::getARCameraParametres ( uint8_t camera_num )

returns camera parametres used by aruco

Parameters:

camera_num 0 - left camera, 1 - right camera

Size Orsens::getColorSize ( )

returns size of the left image

Mat Orsens::getDepth ( bool depth8 = false )

returns depth map

Parameters:

depth8 if set depth is scaled to fit 8 bit for visualizaton

Size Orsens::getDepthSize ( )

returns size of the depth image

Mat Orsens::getDisp ( bool colored = false )

returns disparity map

Parameters:

colored if set disp is colored for visualization

ScenePoint Orsens::getFarestPoint ( uint16_t width = 100 )

returns farest point

Parameters:

width x-zone width

std::vector<Human> Orsens::getHumans ( )

returns vector of all humans in the scene

Mat Orsens::getLeft ( bool gray = false )

returns rgb image from left camera

Parameters:

gray	if set returns gray image

vector<Marker> Orsens::getMarkers	(	uint8_t	camera_num = `0`,
		float	marker_size = `0.04`
	)

returns aruco markers, for more information see ArUco documentation

Parameters:

camera_num	0 - left camera, 1 - right camera
marker_size	size of the marker side expressed in meters

uint16_t Orsens::getMaxDistance ( )

returns maximum possible distance

uint16_t Orsens::getMinDistance ( )

returns minimun possible distance camera able to measure

bool Orsens::getNearestHumanBiometrics ( Human & human )

estimates age and gender of nearest human

Parameters:

human output value

Mat Orsens::getPointCloud ( )

returns point cloud

uint8_t Orsens::getRate ( )

returns depth rate

Mat Orsens::getRight ( )

returns rgb image from right camera

Mat Orsens::getSceneGrid	(	vector< float >	cols,
		vector< float >	rows,
		int	dist_th = `3000`,
		float	occ_th = `0.1`,
		float	pts_th = `0.01`
	)

returns grid with given cols and rows

Parameters:

cols	vector of column widths
rows	vector of row widths
dist_th	distance threshold
occ_th	occupancy threshold
pts_th	minimun number of points with distances less than dist_th in % in each cell to consider it as filled

SceneInfo Orsens::getSceneInfo	(	bool	nearest_obstacle = `true`,
		bool	nearest_point = `true`
	)

returns nearest distance, nearest point(if nearest_point is set to true) and nearest obstacle(if nearest_obstacle is set to true)

Parameters:

nearest_obstacle	if set estimates nearest obstacle information
nearest_point	if set estimates nearest point information

bool Orsens::grabSensorData ( )

grab current images from sensor

bool Orsens::makeDepth ( ) [private]

bool Orsens::makeGray ( ) [private]

bool Orsens::makeNearestDistance ( ) [private]

bool Orsens::makeNearestObstacle ( ) [private]

bool Orsens::makeNearestPoint ( ) [private]

int32_t Orsens::maxWorldX ( uint16_t x )

int32_t Orsens::maxWorldY ( uint16_t y )

bool Orsens::removeFloor ( )

removes floor points

bool Orsens::segmentFloor ( ) [private]

void Orsens::setRoi ( Rect )

sets region of interest

Parameters:

Rect	region of intrest; default: whole image

bool Orsens::start	(	CaptureMode	capture_mode = `CAPTURE_DEPTH_ONLY`,
		string	data_path = `"../../data"`,
		uint16_t	color_width = `640`,
		uint16_t	depth_width = `640`,
		uint8_t	color_rate = `15`,
		uint8_t	depth_rate = `15`,
		bool	compress_color = `false`,
		bool	compress_depth = `false`,
		float	fov = `60.0`,
		uint16_t	baseline = `60`
	)