Grabber for IDS-Imaging Ensenso's devices. More...

#include <ensenso_grabber.h>

Inheritance diagram for pcl::EnsensoGrabber:

Public Member Functions
bool	calibrateHandEye (const std::vector< Eigen::Affine3d, Eigen::aligned_allocator< Eigen::Affine3d > > &robot_poses, const Eigen::Affine3d &camera_seed, const Eigen::Affine3d &pattern_seed, const std::string setup, Eigen::Affine3d &estimated_camera_pose, Eigen::Affine3d &estimated_pattern_pose, int &iterations, double &reprojection_error) const
	With this command you can calibrate the position of the camera with respect to a robot. The calibration routine currently supports two types of setups: either your camera is fixed with respect to the robot origin, or your camera mounted on the robot hand and is moving with the robot. More...

bool	closeDevices ()
	Closes all Ensenso devices. More...

bool	closeTcpPort (void)
	Close TCP port program. More...

int	collectPattern (const bool buffer=true) const
	Collects a calibration pattern. More...

double	decodePattern () const
	Decodes the pattern grid size and thickness. More...

bool	discardPatterns () const
	Clears the pattern buffers of monocular and stereo pattern observations. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	EnsensoGrabber ()
	Constructor. More...

int	enumDevices () const
	Searches for available devices. More...

bool	estimatePatternPose (Eigen::Affine3d &pose, const bool average=false) const
	Estimate the calibration pattern pose. More...

bool	getCameraInfo (std::string cam, sensor_msgs::CameraInfo &cam_info) const
	Get meta information for a monocular camera. More...

float	getFramesPerSecond () const
	Obtain the number of frames per second (FPS) More...

bool	getLastCalibrationPattern (std::vector< int > &grid_size, double &grid_spacing, std::vector< Eigen::Vector2d > &left_points, std::vector< Eigen::Vector2d > &right_points, Eigen::Affine3d &pose) const
	Get the raw stereo pattern information and the pattern pose. Before using it enable the storeCalibrationPattern. More...

std::string	getName () const
	Get class name. More...

int	getPatternCount () const
	Gets the number of collected patterns with successful observations in two cameras. More...

bool	getTFLeftToRGB (Transform &tf) const
	Get transformation between stereo frame and rgb frame. More...

bool	grabSingleCloud (pcl::PointCloud< pcl::PointXYZ > &cloud)
	Capture a single point cloud and store it. More...

bool	isRunning () const
	Check if the data acquisition is still running. More...

bool	isTcpPortOpen () const
	Check if a TCP port is opened. More...

bool	openDevice (std::string serial)
	Opens an Ensenso device. More...

bool	openMonoDevice (std::string serial)
	Opens an Ensenso mono device. More...

bool	openTcpPort (const int port=24000)
	Open TCP port to enable access via the nxTreeEdit program. More...

bool	restoreDefaultConfiguration () const
	Restores the default capture configuration parameters. More...

bool	setAutoBlackLevel (const bool enable=true) const
	Controls whether the sensor black level should be adjusted automatically by the image sensor. More...

bool	setAutoExposure (const bool enable=true) const
	Controls whether the exposure should be adjusted after each image capture. More...

bool	setAutoGain (const bool enable=true) const
	Controls whether the gain should be adjusted after each image capture. More...

bool	setBinning (const int binning=1) const
	Adjusts the camera's binning factor. Binning reduces the image resolution by an integer factor directly on the sensor, and thus greatly reduces the image transfer times. Changing this node's value directly reduces the resolution of all binary image nodes accordingly. More...

bool	setBlackLevelOffset (const float offset=1.0) const
	The current black level offset. When AutoBlackLevel is false this value specifies the sensor black level directly, otherwise the offset is applied on top of the automatically estimated sensor black level. More...

bool	setDepthChangeCost (const int changecost) const
	The penalty for changes of +/- 1 disparity along an optimization path. Setting a larger value for DepthChangeCost will result in smoother surfaces, but some details might get lost when setting this value too large. More...

bool	setDepthStepCost (const int stepcost) const
	The penalty for steps (changes of more than one disparity) along an optimization path. Setting a larger value for DepthStepCost will yield better detection of planar surfaces in low contrast areas, but too large values will lead to a loss of geometry details and precise object boundaries. More...

bool	setEnableCUDA (const bool enable=true) const
	Enables CUDA support. More...

bool	setExposure (const float exposure=1.0) const
	The current image exposure time. More...

bool	setFarPlane (const int far)
	Specifies the maximum distance to the ViewPose below which surface elements will be excluded from the depth map. More...

bool	setFillBorderSpread (const int maximumspread) const
	Defines which missing regions will be filled by setting a threshold on the maximum spread of the disparities on the region boundary. Setting this value reasonably small will ensure that only missing patches inside planar faces will be filled whereas gaps at depth discontinuities are kept unfilled. More...

bool	setFillRegionSize (const int regionsize) const
	Defines an upper limit on the region size in pixels, up to which a region is accepted for filling. The region must also satisfy the BorderSpread condition to be filled. More...

bool	setFindPattern (const bool enable=true)
	Controls, whether the grabber will try finding the pattern in the scene. More...

bool	setFlexView (const bool enable=false, const int imagepairs=2) const
	The number of image pairs to capture. When FlexView is set to false the camera will operate in normal one-shot stereo mode. If FlexView is enabled the Capture command will automatically capture the indicated number of image pairs and shift the projectors pattern between each exposure. All image pairs will then be used to compute depth data in ComputeDisparityMap. Using more than one image pair will increase the effective X, Y and Z resolution. More...

bool	setFrontLight (const bool enable=false) const
	Enables the diffuse front light during exposure. This should only be used when calibrating or tracking a calibration pattern. Please also note the illumination limitations. More...

bool	setGain (const float gain=1.0) const
	The current analog gain factor. See also MaxGain. More...

bool	setGainBoost (const bool enable=false) const
	Enables the cameras analog gain boost function. More...

bool	setGridSpacing (const double grid_spacing) const
	Sets the grid spacing of the calibration pattern. More...

bool	setHardwareGamma (const bool enable=true) const
	Enables the camera's internal analog gamma correction. This boosts dark pixels while compressing higher brightness values. More...

bool	setHdr (const bool enable=false) const
	Enables the camera's high dynamic range function with a fixed, piece-wise linear response curve. More...

bool	setMedianFilterRadius (const int radius) const
	Specifies the size of the median filter as radius in pixels, excluding the center pixel. The filter is applied to the disparity map. Median filtering will reduce noise inside surfaces while maintaining sharp edges, but object corners will be rounded. More...

bool	setMinimumDisparity (const int disparity=-64) const
	The minimum disparity in pixels where correspondences in the stereo image pair are being searched. The resolution reductions by Scaling and Binning are automatically accounted for. The actual value used in the matching process is output in ScaledMinimumDisparity. More...

bool	setNearPlane (const int near)
	Specifies the minimum distance to the ViewPose below which surface elements will be excluded from the depth map. More...

bool	setNumberOfDisparities (const int number=128) const
	The number of disparities in pixels where correspondences in the stereo image pair are being searched, starting at MinDisparity. The resolution reductions by Scaling and Binning are automatically accounted for. The actual value used in the matching process is output in ScaledNumberOfDisparities. More...

bool	setOptimizationProfile (const std::string profile="AlignedAndDiagonal") const
	The type of Semi-Global-Matching optimization carried out on the cost function. More...

bool	setPixelClock (const int pixel_clock=24) const
	Sets the pixel clock in MHz. If you have too many devices on the same bus the image transfer might fail when the clock is too high. This happens when the host PC does not request data from the camera fast enough. The sensor then outputs data faster than it can be transferred to the host and the cameras buffer will overflow. Thus the image transfer is incomplete and the image is lost. More...

bool	setProjector (const bool enable=true) const
	Enables the texture projector during exposure. This should only be used for depth map computation. Please also note the illumination limitations. More...

bool	setRGBTriggerDelay (const float delay=10) const
	The delay between trigger of the stereo camera (and projector) and the RGB camera. More...

bool	setScaling (const float scaling=1.0) const
	Scaling allows to reduce the camera resolution by an arbitrary non-integer factor during rectification. The camera raw images stay at their original size, but the rectified images, DisparityMap and PointMap will be scaled by the specified factor to improve stereo matching runtime. This allows you to choose you own tradeoff between image resolution and performance. More...

bool	setShadowingThreshold (const int shadowingthreshold) const
	The disparity map is checked for occluded pixels. This is usually called 'left-right consistency check'. A pixel is only accepted if it is a mutually best match with the assigned right image pixel. Due to subpixel interpolation and half-occluded pixels, it is reasonable to allow small deviations from 'exact mutual' matches. This threshold sets the allowed range of mismatch in pixels. More...

bool	setSpeckleComponentThreshold (const int threshold) const
	Defines how the image is divided into regions for speckle filtering. Whenever two neighboring pixel disparities differ by more than ComponentThreshold disparities, the two pixels are considered as belonging to separate regions. Consequently, each resulting region will not have discontinuities larger or equal to ComponentThreshold in it's disparity map area. More...

bool	setSpeckleRegionSize (const int threshold) const
	The size in pixels of a disparity map region below which the region will be removed from the disparity map. The computation of the regions is controlled by ComponentThreshold. More...

bool	setSurfaceConnectivity (const int threshold) const
	The distance along a camera's z direction below which two neighboring points will be connected to a surface triangle. More...

bool	setTargetBrightness (const int target=80) const
	The desired average image brightness in gray values used for AutoExposure and AutoGain. More...

bool	setTriggerMode (const std::string mode="Software") const
	Specifies how an image capture is initiated. More...

bool	setUniquenessRatio (const int ratio) const
	Filters the pixels depending on the uniqueness of the found correspondence. The value indicates the percentage, by which the cost of the next best correspondence must be larger (compared to the best correspondence), such that the pixel is accepted. More...

bool	setUseDisparityMapAreaOfInterest (const bool enable=false) const
	Reduces the camera's capture AOI to the region necessary for the currently set stereo matching AOI. This will reduce the image transfer time, especially when setting smaller AOIs for the stereo matching. More...

bool	setUseOpenGL (const bool enable) const
	Configures the use of OpenGL. More...

bool	setUseRGB (const bool enable=true)
	Controls, whether the grabber will use an external ensenso rgb camera. More...

void	start ()
	Start the point cloud and or image acquisition. More...

void	stop ()
	Stop the data acquisition. More...

void	storeCalibrationPattern (const bool enable)
	Enables collecting the calibration pattern continuous during processGrabbing() More...

virtual	~EnsensoGrabber () throw ()
	Destructor inherited from the Grabber interface. It never throws. More...

Protected Member Functions
void	getDepthData (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::PCLGenImage< float >::Ptr &depthimage)
	Retrieve depth data from NxLib. More...

void	getDepthDataRGB (const pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &cloud, const pcl::PCLGenImage< float >::Ptr &depthimage)
	Retrieve RGB depth data from NxLib. More...

void	getImage (const NxLibItem &image_node, pcl::PCLGenImage< pcl::uint8_t > &image_out)
	Retrieve Image from NxLib. More...

bool	jsonToMatrix (const std::string json, Eigen::Affine3d &matrix) const
	Converts a JSON string into an Eigen::Affine3d. More...

bool	matrixToJson (const Eigen::Affine3d &matrix, std::string &json, const bool pretty_format=true) const
	Converts an Eigen::Affine3d into a JSON string transformation (4x4) More...

void	processGrabbing ()
	Continuously asks for images and or point clouds data from the device and publishes them if available. PCL time stamps are filled for both the images and clouds grabbed (see getPCLStamp) More...

void	triggerCameras ()
	triggers all available cameras More...

Static Protected Member Functions
static std::string	getOpenCVType (const int channels, const int bpe, const bool isFlt)
	Get OpenCV image type corresponding to the parameters given. More...

static pcl::uint64_t	getPCLStamp (const double ensenso_stamp)
	Convert an Ensenso time stamp into a PCL/ROS time stamp. More...

Protected Attributes
NxLibItem	camera_
	References to the camera tree. More...

bool	device_open_
	Whether an Ensenso device is opened or not. More...

int	far_plane_
	Far plane Parameter for the RenderPointMap command. More...

bool	find_pattern_
	Whether the grabber tries to find the pattern or not. More...

float	fps_
	Camera frames per second (FPS) More...

boost::mutex	fps_mutex_
	Mutual exclusion for FPS computation. More...

boost::thread	grabber_thread_
	Grabber thread. More...

boost::signals2::signal< sig_cb_ensenso_image_depth > *	image_depth_signal_
	Boost depth image signal. More...

boost::signals2::signal< sig_cb_ensenso_images_rgb > *	images_rgb_signal_
	Boost images rgb signal. More...

boost::signals2::signal< sig_cb_ensenso_images > *	images_signal_
	Boost images signal. More...

Eigen::Affine3d	last_pattern_pose_
	Last pose of the detected pattern during processGrabbing() More...

std::string	last_stereo_pattern_
	Last raw stereo info of the detected pattern during processGrabbing() More...

bool	mono_device_open_
	Whether an Ensenso device is opened or not. More...

NxLibItem	monocam_

int	near_plane_
	Near plane Parameter for the RenderPointMap command. More...

boost::mutex	pattern_mutex_
	Mutual exclusion for reading pattern pose. More...

boost::signals2::signal< sig_cb_ensenso_point_cloud_rgb > *	point_cloud_rgb_signal_
	Boost point cloud signal with RGB. More...

boost::signals2::signal< sig_cb_ensenso_point_cloud > *	point_cloud_signal_
	Boost point cloud signal. More...

boost::shared_ptr< const NxLibItem >	root_
	Reference to the NxLib tree root. More...

bool	running_
	Whether an Ensenso device is running or not. More...

bool	store_calibration_pattern_
	Whether to read the pattern pose at processGrabbing() or not. More...

bool	tcp_open_
	Whether an TCP port is opened or not. More...

Transform	tf_left_to_rgb_
	translation from left camera to RGB frame More...

double	timestamp_
	timestamp of the current frame More...

bool	use_rgb_
	Whether the grabber uses RGB or not. More...

Private Types
typedef std::pair< pcl::PCLGenImage< pcl::uint8_t >, pcl::PCLGenImage< pcl::uint8_t > >	PairOfImages

Detailed Description

Grabber for IDS-Imaging Ensenso's devices.

Author: Francisco Suarez-Ruiz

Definition at line 37 of file ensenso_grabber.h.

Member Typedef Documentation

typedef std::pair<pcl::PCLGenImage<pcl::uint8_t>, pcl::PCLGenImage<pcl::uint8_t> > pcl::EnsensoGrabber::PairOfImages

private

Definition at line 39 of file ensenso_grabber.h.

Constructor & Destructor Documentation

pcl::EnsensoGrabber::EnsensoGrabber ( )

Constructor.

Definition at line 17 of file ensenso_grabber.cpp.

pcl::EnsensoGrabber::~EnsensoGrabber	(	)
throw	(
	)

virtual

Destructor inherited from the Grabber interface. It never throws.

Definition at line 45 of file ensenso_grabber.cpp.

Member Function Documentation

bool pcl::EnsensoGrabber::calibrateHandEye	(	const std::vector< Eigen::Affine3d, Eigen::aligned_allocator< Eigen::Affine3d > > &	robot_poses,
		const Eigen::Affine3d &	camera_seed,
		const Eigen::Affine3d &	pattern_seed,
		const std::string	setup,
		Eigen::Affine3d &	estimated_camera_pose,
		Eigen::Affine3d &	estimated_pattern_pose,
		int &	iterations,
		double &	reprojection_error
	)		const

With this command you can calibrate the position of the camera with respect to a robot. The calibration routine currently supports two types of setups: either your camera is fixed with respect to the robot origin, or your camera mounted on the robot hand and is moving with the robot.

Parameters

[in]	robot_poses	A list of robot poses, 1 for each pattern acquired (in the same order)
[in]	camera_seed	Initial guess of the camera pose. The pose must be given relative to the robot hand (for a moving camera setup), or relative to the robot origin (for the fixed camera setup).
[in]	pattern_seed	Initial guess of the pattern pose. This pose must be given relative to the robot hand (for a fixed camera setup), or relative to the robot origin (for the moving camera setup).
[in]	setup	Moving or Fixed, please refer to the Ensenso documentation
[out]	estimated_camera_pose	The Transformation between this camera's left eye coordinates and the next linked system.
[out]	estimated_pattern_pose	The estimated pattern pose. This pose is either relative to the robot hand (for a fixed camera setup), or relative to the robot origin (for the moving camera setup).
[out]	iterations	Indicates the number of optimization iterations performed on the final solution until it had converged.
[out]	reprojection_error	The reprojection error per pattern point over all collected patterns of the final solution.

Returns: True if successful, false otherwise

Warning: This can take up to 120 seconds

Definition at line 68 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::closeDevices ( )

Closes all Ensenso devices.

Returns: True if successful, false otherwise

Definition at line 158 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::closeTcpPort ( void )

Close TCP port program.

Returns: True if successful, false otherwise

Warning: If you do not close the TCP port the program might exit with the port still open, if it is the case use
ps -ef
and
kill PID
to kill the application and effectively close the port.

Definition at line 180 of file ensenso_grabber.cpp.

int pcl::EnsensoGrabber::collectPattern ( const bool buffer = true ) const

Collects a calibration pattern.

Parameters

[in] buffer Specifies whether the pattern should be added to the pattern buffer.

Returns: the number of calibration patterns stored in the
nxTree
, -1 on error

Warning: A device must be opened and must not be running.

Definition at line 195 of file ensenso_grabber.cpp.

double pcl::EnsensoGrabber::decodePattern ( ) const

Decodes the pattern grid size and thickness.

Returns: the grid size in mm

Definition at line 215 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::discardPatterns ( ) const

Clears the pattern buffers of monocular and stereo pattern observations.

Returns: True if successful, false otherwise

Note: The counters PatternCount and MonocularPatternCount will be zero after clearing.

Definition at line 237 of file ensenso_grabber.cpp.

int pcl::EnsensoGrabber::enumDevices ( ) const

Searches for available devices.

Returns: The number of Ensenso devices connected

Definition at line 272 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::estimatePatternPose	(	Eigen::Affine3d &	pose,
		const bool	average = `false`
	)		const

Estimate the calibration pattern pose.

Parameters

[out]	pose	the calibration pattern pose
[in]	average	Specifies if all pattern point coordinates in the buffer should be averaged to produce a more precise pose measurement. This will only produce a correct result if all patterns in the buffer originate from multiple images of the same pattern in the same pose.

Returns: true if successful, false otherwise

Warning: A device must be opened and must not be running.

Note: At least one calibration pattern must have been collected before, use collectPattern() before

Definition at line 251 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::getCameraInfo	(	std::string	cam,
		sensor_msgs::CameraInfo &	cam_info
	)		const

Get meta information for a monocular camera.

Parameters

[in]	cam	A string containing the camera (Left or Right)
[out]	cam_info	meta information for a camera.

Returns: True if successful, false otherwise

Note: See: sensor_msgs/CameraInfo

Definition at line 297 of file ensenso_grabber.cpp.

void pcl::EnsensoGrabber::getDepthData	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const pcl::PCLGenImage< float >::Ptr &	depthimage
	)

protected

Retrieve depth data from NxLib.

Parameters

[out] acquired point cloud and depth image

Definition at line 914 of file ensenso_grabber.cpp.

void pcl::EnsensoGrabber::getDepthDataRGB	(	const pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &	cloud,
		const pcl::PCLGenImage< float >::Ptr &	depthimage
	)

protected

Retrieve RGB depth data from NxLib.

Parameters

[out] acquired point cloud and depth image

Definition at line 855 of file ensenso_grabber.cpp.

float pcl::EnsensoGrabber::getFramesPerSecond ( ) const

Obtain the number of frames per second (FPS)

Definition at line 461 of file ensenso_grabber.cpp.

void pcl::EnsensoGrabber::getImage	(	const NxLibItem &	image_node,
		pcl::PCLGenImage< pcl::uint8_t > &	image_out
	)

protected

Retrieve Image from NxLib.

Parameters

[out]	acquired	image
[in]	NxLib	Node from which image should be acquired

Definition at line 980 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::getLastCalibrationPattern	(	std::vector< int > &	grid_size,
		double &	grid_spacing,
		std::vector< Eigen::Vector2d > &	left_points,
		std::vector< Eigen::Vector2d > &	right_points,
		Eigen::Affine3d &	pose
	)		const

Get the raw stereo pattern information and the pattern pose. Before using it enable the storeCalibrationPattern.

Parameters

[out]	grid_size	The number of points on the patterns grid as two element vector.
[out]	grid_spacing	Distance of two neighboring grid points along this pattern's x or y axis.
[out]	left_points	the raw image positions of the pattern dots in the first camera.
[out]	right_points	the raw image dot positions in the second camera.
[out]	pose	the calibration pattern pose.

Returns: True if successful, false otherwise

Definition at line 425 of file ensenso_grabber.cpp.

std::string pcl::EnsensoGrabber::getName ( void ) const

Get class name.

Returns: A string containing the class name

Definition at line 467 of file ensenso_grabber.cpp.

std::string pcl::EnsensoGrabber::getOpenCVType	(	const int	channels,
		const int	bpe,
		const bool	isFlt
	)

staticprotected

Get OpenCV image type corresponding to the parameters given.

Parameters

channels	number of channels in the image
bpe	bytes per element
isFlt	is float

Returns: the OpenCV type as a string

Definition at line 472 of file ensenso_grabber.cpp.

int pcl::EnsensoGrabber::getPatternCount ( ) const

Gets the number of collected patterns with successful observations in two cameras.

Returns: The number of pattern in the camera buffer

Definition at line 490 of file ensenso_grabber.cpp.

pcl::uint64_t pcl::EnsensoGrabber::getPCLStamp ( const double ensenso_stamp )

staticprotected

Convert an Ensenso time stamp into a PCL/ROS time stamp.

Parameters

[in] ensenso_stamp

Returns: PCL stamp The Ensenso API returns the time elapsed from January 1st, 1601 (UTC); on Linux OS the reference time is January 1st, 1970 (UTC). See time-stamp page for more info about the time stamp conversion.

Definition at line 481 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::getTFLeftToRGB ( Transform & tf ) const

Get transformation between stereo frame and rgb frame.

Returns: True if successful, false otherwise

Definition at line 385 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::grabSingleCloud ( pcl::PointCloud< pcl::PointXYZ > & cloud )

Capture a single point cloud and store it.

Parameters

[out] cloud The cloud to be filled

Returns: True if successful, false otherwise

Warning: A device must be opened and not running

Definition at line 495 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::isRunning ( ) const

Check if the data acquisition is still running.

Returns: True if running, false otherwise

Definition at line 539 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::isTcpPortOpen ( ) const

Check if a TCP port is opened.

Returns: True if open, false otherwise

Definition at line 544 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::jsonToMatrix	(	const std::string	json,
		Eigen::Affine3d &	matrix
	)		const

protected

Converts a JSON string into an Eigen::Affine3d.

Parameters

[in]	json	The input JSON transformation
[out]	matrix	An Eigen matrix containing the resulting transformation

Returns: True if successful, false otherwise

Definition at line 549 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::matrixToJson	(	const Eigen::Affine3d &	matrix,
		std::string &	json,
		const bool	pretty_format = `true`
	)		const

protected

Converts an Eigen::Affine3d into a JSON string transformation (4x4)

Parameters

[in]	matrix	An Eigen matrix
[out]	json	The output JSON transformation
[in]	pretty_format	JSON formatting style

Returns: True if successful, false otherwise

Definition at line 581 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::openDevice ( std::string serial )

Opens an Ensenso device.

Parameters

[in] serial The camera serial

Returns: True if successful, false otherwise

Definition at line 616 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::openMonoDevice ( std::string serial )

Opens an Ensenso mono device.

Parameters

[in] serial The camera serial

Returns: True if successful, false otherwise

Definition at line 642 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::openTcpPort ( const int port = 24000 )

Open TCP port to enable access via the nxTreeEdit program.

Parameters

[in] port The port number

Returns: True if successful, false otherwise

Definition at line 668 of file ensenso_grabber.cpp.

void pcl::EnsensoGrabber::processGrabbing ( )

protected

Continuously asks for images and or point clouds data from the device and publishes them if available. PCL time stamps are filled for both the images and clouds grabbed (see getPCLStamp)

Note: The cloud time stamp is the RAW image time stamp

Definition at line 683 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::restoreDefaultConfiguration ( ) const

Restores the default capture configuration parameters.

Returns: True if successful, false otherwise

Definition at line 1000 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setAutoBlackLevel ( const bool enable = true ) const

Controls whether the sensor black level should be adjusted automatically by the image sensor.

Parameters

[in] enable When set to true the image sensor black level will be adjusted automatically.

Returns: True if successful, false otherwise

Definition at line 1061 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setAutoExposure ( const bool enable = true ) const

Controls whether the exposure should be adjusted after each image capture.

Parameters

[in] enable When set to true the Exposure will be adjusted after each Capture command involving this camera.

Returns: True if successful, false otherwise

Definition at line 1077 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setAutoGain ( const bool enable = true ) const

Controls whether the gain should be adjusted after each image capture.

Parameters

[in] enable When set to true the Gain will be adjusted after each Capture command involving this camera.

Returns: True if successful, false otherwise

Definition at line 1093 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setBinning ( const int binning = 1 ) const

Adjusts the camera's binning factor. Binning reduces the image resolution by an integer factor directly on the sensor, and thus greatly reduces the image transfer times. Changing this node's value directly reduces the resolution of all binary image nodes accordingly.

Parameters

[in] binning A positive integer specifying the binning factor.

Returns: True if successful, false otherwise

Note: Changing the binning factor cancels any running capture operation and clears all images for the corresponding camera.

Definition at line 1109 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setBlackLevelOffset ( const float offset = 1.0 ) const

The current black level offset. When AutoBlackLevel is false this value specifies the sensor black level directly, otherwise the offset is applied on top of the automatically estimated sensor black level.

Parameters

[in] offset A number between 0.0 and 1.0. Values closer to zero will yield darker images, values closer to one will increase the image brightness at the expense of noise in dark image regions.

Returns: True if successful, false otherwise

Definition at line 1126 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setDepthChangeCost ( const int changecost ) const

The penalty for changes of +/- 1 disparity along an optimization path. Setting a larger value for DepthChangeCost will result in smoother surfaces, but some details might get lost when setting this value too large.

Parameters

[in] changecost A positive integer specifying the cost of disparity changes in the disparity map.

Note: his value must be smaller than DepthStepCost. Default Value 5

Definition at line 1459 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setDepthStepCost ( const int stepcost ) const

The penalty for steps (changes of more than one disparity) along an optimization path. Setting a larger value for DepthStepCost will yield better detection of planar surfaces in low contrast areas, but too large values will lead to a loss of geometry details and precise object boundaries.

Parameters

[in] stepcost A positive integer, strictly larger than DepthChangeCost, specifying the cost of disparity steps (discontinuities) in the disparity map.

Note: This value must be larger than DepthChangeCost. Default Value 30

Returns: True if successful, false otherwise

Definition at line 1475 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setEnableCUDA ( const bool enable = true ) const

Enables CUDA support.

Note: Needs Ensenso SDK version >= 2.1.7

Parameters

[in] enable When set to true some commands will use CUDA to improve Perfomance

Returns: True if successful, false otherwise

Definition at line 1029 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setExposure ( const float exposure = 1.0 ) const

The current image exposure time.

Parameters

[in] exposure Specifies the camera's exposure time in milliseconds.

Returns: True if successful, false otherwise

Note: Have a look at the exposure limits of the LED flash by looking at the illumination topic for your camera model and the MaxFlashTime node.

Definition at line 1142 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setFarPlane ( const int far )

Specifies the maximum distance to the ViewPose below which surface elements will be excluded from the depth map.

Note: This can be used to exclude the working plane from the depth view.

Parameters

[in] far The clipping plane distance from the camera pose in viewing direction.

Returns: True if successful, false otherwise

Definition at line 1625 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setFillBorderSpread ( const int maximumspread ) const

Defines which missing regions will be filled by setting a threshold on the maximum spread of the disparities on the region boundary. Setting this value reasonably small will ensure that only missing patches inside planar faces will be filled whereas gaps at depth discontinuities are kept unfilled.

Parameters

[in] maximumspread An integer specifying the maximum spread of the disparities at the fill region border.

Returns: True if successful, false otherwise

Definition at line 1571 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setFillRegionSize ( const int regionsize ) const

Defines an upper limit on the region size in pixels, up to which a region is accepted for filling. The region must also satisfy the BorderSpread condition to be filled.

Parameters

[in] regionsize An integer specifying region size in pixels, up to which a missing region is being filled.

Note: Setting this parameter to 0 disables the hole filling filter.

Returns: True if successful, false otherwise

Definition at line 1587 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setFindPattern ( const bool enable = true )

Controls, whether the grabber will try finding the pattern in the scene.

Parameters

[in] enable When set to true the grabber will try finding the pattern in the scene.

Returns: True if successful, false otherwise

Definition at line 1054 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setFlexView	(	const bool	enable = `false`,
		const int	imagepairs = `2`
	)		const

The number of image pairs to capture. When FlexView is set to false the camera will operate in normal one-shot stereo mode. If FlexView is enabled the Capture command will automatically capture the indicated number of image pairs and shift the projectors pattern between each exposure. All image pairs will then be used to compute depth data in ComputeDisparityMap. Using more than one image pair will increase the effective X, Y and Z resolution.

Parameters

[in]	enable	Specify false to disable the FlexView function.
[in]	imagepairs	A value in the range 2..8 specifying the number of image pairs used for depth computation.

Returns: True if successful, false otherwise

Note: This parameter is only present if your camera supports FlexView (all N35 camera models).; FlexView is currently only supported in software triggered operation.; Depth computation from more than one image pair will only yield accurate depth data on scene parts which remained static in all image pairs.

Definition at line 1158 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setFrontLight ( const bool enable = false ) const

Enables the diffuse front light during exposure. This should only be used when calibrating or tracking a calibration pattern. Please also note the illumination limitations.

Parameters

[in] enable When set to true the camera's front LED will be switched on for the duration of the image exposure.

Returns: True if successful, false otherwise

Definition at line 1178 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setGain ( const float gain = 1.0 ) const

The current analog gain factor. See also MaxGain.

Parameters

[in] gain A value in the range 1..MaxGain specifying the camera's analog gain factor. E.g. setting a value of 2.0 will double the brightness values.

Returns: True if successful, false otherwise

Definition at line 1194 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setGainBoost ( const bool enable = false ) const

Enables the cameras analog gain boost function.

Parameters

[in] enable When set to true an additional analog gain boost on the camera will be enabled.

Returns: True if successful, false otherwise

Definition at line 1210 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setGridSpacing ( const double grid_spacing ) const

Sets the grid spacing of the calibration pattern.

Parameters

[in] grid_spacing distance of two neighboring grid points along the pattern's x or y axis.

Returns: True if successful, false otherwise

Definition at line 1226 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setHardwareGamma ( const bool enable = true ) const

Enables the camera's internal analog gamma correction. This boosts dark pixels while compressing higher brightness values.

Parameters

[in] enable When set to true the cameras analog gamma correction will be enabled.

Returns: True if successful, false otherwise

Definition at line 1240 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setHdr ( const bool enable = false ) const

Enables the camera's high dynamic range function with a fixed, piece-wise linear response curve.

Parameters

[in] enable When set to true the HDR function of the camera will be enabled.

Returns: True if successful, false otherwise

Note: The response curve set by the HDR feature can currently not be modified.

Definition at line 1256 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setMedianFilterRadius ( const int radius ) const

Specifies the size of the median filter as radius in pixels, excluding the center pixel. The filter is applied to the disparity map. Median filtering will reduce noise inside surfaces while maintaining sharp edges, but object corners will be rounded.

Parameters

[in] radius An integer specifying half the median filter window size in pixels, excluding the center pixel. Allowed values are 0 to 2.

Note: Setting the filter radius to 0 will disable median filtering.

Returns: True if successful, false otherwise

Definition at line 1523 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setMinimumDisparity ( const int disparity = -64 ) const

The minimum disparity in pixels where correspondences in the stereo image pair are being searched. The resolution reductions by Scaling and Binning are automatically accounted for. The actual value used in the matching process is output in ScaledMinimumDisparity.

Parameters

[in] disparity An integer specifying the minimum disparity in pixels where the stereo matching algorithm searches for correspondences between the two images.

Returns: True if successful, false otherwise

Definition at line 1272 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setNearPlane ( const int near )

Specifies the minimum distance to the ViewPose below which surface elements will be excluded from the depth map.

Note: This can be used to exclude the working plane from the depth view.

Parameters

[in] near The clipping plane distance from the camera pose in viewing direction.

Returns: True if successful, false otherwise

Definition at line 1619 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setNumberOfDisparities ( const int number = 128 ) const

The number of disparities in pixels where correspondences in the stereo image pair are being searched, starting at MinDisparity. The resolution reductions by Scaling and Binning are automatically accounted for. The actual value used in the matching process is output in ScaledNumberOfDisparities.

Parameters

[in] number An integer specifying the number of disparities in pixels where the images are being matched.

Returns: True if successful, false otherwise

Note: Note: The NumberOfDisparities parameter must be a multiple of 16.

Definition at line 1288 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setOptimizationProfile ( const std::string profile = "AlignedAndDiagonal" ) const

The type of Semi-Global-Matching optimization carried out on the cost function.

Parameters

[in]

profile

Three possible types are accepted:

"Aligned": Propagate cost along 4 paths, corresonding to the pixel axes of the rectified images.
"Diagonal": Propagate cost on the 4 paths, corresponding the all 45 degree pixel diagonals.
"AlignedAndDiagonal": Propagate along all 8 paths, aligned and diagonal. This setting yields the best matching results, but slowest performance.

Returns: True if successful, false otherwise

Note: The Aligned and Diagonal profiles have similar runtime, but object edges that are approximately aligned with one of the propagation directions might be estimated less accurately. You might for example choose the Diagonal profile, if you expect you object edges to be mostly pixel axis aligned and Aligned for best results on non-pixel aligned object boundaries.

Definition at line 1304 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setPixelClock ( const int pixel_clock = 24 ) const

Sets the pixel clock in MHz. If you have too many devices on the same bus the image transfer might fail when the clock is too high. This happens when the host PC does not request data from the camera fast enough. The sensor then outputs data faster than it can be transferred to the host and the cameras buffer will overflow. Thus the image transfer is incomplete and the image is lost.

Parameters

[in] pixel_clock An integer number specifying the cameras pixel clock in MHz. Range: [7-43]

Returns: True if successful, false otherwise

Definition at line 1320 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setProjector ( const bool enable = true ) const

Enables the texture projector during exposure. This should only be used for depth map computation. Please also note the illumination limitations.

Parameters

[in] enable When set to true the camera's pattern projector will be switched on for the duration of the image exposure.

Returns: True if successful, false otherwise

Definition at line 1336 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setRGBTriggerDelay ( const float delay = 10 ) const

The delay between trigger of the stereo camera (and projector) and the RGB camera.

Note: This can be used to avoid the projector pattern being visible in RGB.

Parameters

[in] delay Trigger delay in ms.

Returns: True if successful, false otherwise

Definition at line 1400 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setScaling ( const float scaling = 1.0 ) const

Scaling allows to reduce the camera resolution by an arbitrary non-integer factor during rectification. The camera raw images stay at their original size, but the rectified images, DisparityMap and PointMap will be scaled by the specified factor to improve stereo matching runtime. This allows you to choose you own tradeoff between image resolution and performance.

Parameters

[in] scaling An positive real number between 0.25 and 1.0.

Returns: True if successful, false otherwise

Note: Setting a new Scaling factor immediately clears and resizes the affected image nodes.; As Scaling only affects the rectified images you might set a new Scaling factor and rerun ComputeDisparityMap without capturing a new image pair! You could therefore use Scaling for fast object detection in low resolution, and then perform measurements in higher resolution by setting Scaling to 1 without the need to capture an additional image pair.

Definition at line 1368 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setShadowingThreshold ( const int shadowingthreshold ) const

The disparity map is checked for occluded pixels. This is usually called 'left-right consistency check'. A pixel is only accepted if it is a mutually best match with the assigned right image pixel. Due to subpixel interpolation and half-occluded pixels, it is reasonable to allow small deviations from 'exact mutual' matches. This threshold sets the allowed range of mismatch in pixels.

Parameters

[in] shadowingthreshold An integer specifying the threshold in disparities by which a pixel might be occluded by another pixel to still be accepted as valid. Negative values disable the occlusion detection and will leave wrongly associated regions in occluded image areas.

Returns: True if successful, false otherwise

Note: Setting a negative value (e.g. -1) for this parameter will disable filtering of shadowed areas. This will leave arbitrary depth values in shadowed areas. Default Value 1

Definition at line 1491 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setSpeckleComponentThreshold ( const int threshold ) const

Defines how the image is divided into regions for speckle filtering. Whenever two neighboring pixel disparities differ by more than ComponentThreshold disparities, the two pixels are considered as belonging to separate regions. Consequently, each resulting region will not have discontinuities larger or equal to ComponentThreshold in it's disparity map area.

Parameters

[in] threshold An integer specifying the disparity step size, where surfaces should be cut into separate speckle regions.

Note: The smaller this threshold is set, the smaller the resulting disparity regions will be. Thus setting a smaller ComponentThreshold will result in more regions being filtered out, because some regions fall apart and their sizes drop below RegionSize.

Returns: True if successful, false otherwise

Definition at line 1539 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setSpeckleRegionSize ( const int threshold ) const

The size in pixels of a disparity map region below which the region will be removed from the disparity map. The computation of the regions is controlled by ComponentThreshold.

Parameters

[in] threshold An integer specifying the size in pixels below which a region will be removed from the disparity map.

Note: Setting this parameter to 0 disables the speckle filter.

Returns: True if successful, false otherwise

Definition at line 1555 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setSurfaceConnectivity ( const int threshold ) const

The distance along a camera's z direction below which two neighboring points will be connected to a surface triangle.

Parameters

[in] threshold A threshold in millimeters below which neighboring pixels will be connected to a small surface patch.

Returns: True if successful, false otherwise

Definition at line 1603 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setTargetBrightness ( const int target = 80 ) const

The desired average image brightness in gray values used for AutoExposure and AutoGain.

Parameters

[in] target Positive number from 40 to 210, specifying the desired average gray value of both images.

Returns: True if successful, false otherwise

Definition at line 1352 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setTriggerMode ( const std::string mode = "Software" ) const

Specifies how an image capture is initiated.

Parameters

[in]

mode

Three possible mode are accepted:

"Software": The camera starts the exposure by software trigger when the Capture command is issued.
"FallingEdge": The Capture command waits for a high-to-low transition on the trigger input before starting the exposure.
"RisingEdge": The Capture command waits for a low-to-high transition on the trigger input before starting the exposure.

Returns: True if successful, false otherwise

Note: Triggering on the rising edge is currently not supported by the N10 cameras due to hardware limitations.

Definition at line 1384 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setUniquenessRatio ( const int ratio ) const

Filters the pixels depending on the uniqueness of the found correspondence. The value indicates the percentage, by which the cost of the next best correspondence must be larger (compared to the best correspondence), such that the pixel is accepted.

Parameters

[in] ratio An integer specifying the uniqueness margin in percent.

Note: Setting this parameter to 0 disables the uniqueness filter.

Returns: True if successful, false otherwise

Definition at line 1507 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setUseDisparityMapAreaOfInterest ( const bool enable = false ) const

Reduces the camera's capture AOI to the region necessary for the currently set stereo matching AOI. This will reduce the image transfer time, especially when setting smaller AOIs for the stereo matching.

Parameters

[in] enable When set to true the camera's capture AOI will be reduced.

Returns: True if successful, false otherwise

Note: On N20, N30 and N35 cameras the AOI will only reduce the number of lines transferred in the raw images. Each line will still contain valid pixels for the full sensor width.; This will also slightly improve transfer times when the stereo matching AOI is set to full size, because it crops image portions that will be thrown away during image rectification.; Beware that you cannot enlarge the stereo matching AOI when you captured an image with UseDisparityMapAreaOfInterest set to true, because the camera images contain no data outside the previously specified AOI. You need to capture another image after enlarging the stereo matching AOI in order to get valid depth data in the enlarged regions.

Definition at line 1420 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setUseOpenGL ( const bool enable ) const

Configures the use of OpenGL.

Note: OpenGL is used for example in the RenderPointMap command for RGB registration

Parameters

[in] enable to use OpenGL

Returns: True if successful, false otherwise

Definition at line 1436 of file ensenso_grabber.cpp.

bool pcl::EnsensoGrabber::setUseRGB ( const bool enable = true )

Controls, whether the grabber will use an external ensenso rgb camera.

Parameters

[in] enable When set to true the grabber will use an external ensenso rgb camera.

Returns: True if successful, false otherwise

Definition at line 1453 of file ensenso_grabber.cpp.

void pcl::EnsensoGrabber::start ( )

Start the point cloud and or image acquisition.

Note: Opens device "0" if no device is open

Definition at line 1631 of file ensenso_grabber.cpp.

void pcl::EnsensoGrabber::stop ( )

Stop the data acquisition.

Definition at line 1644 of file ensenso_grabber.cpp.

void pcl::EnsensoGrabber::storeCalibrationPattern ( const bool enable )

Enables collecting the calibration pattern continuous during processGrabbing()

Parameters

[in] enable When set to true the calibration pattern raw and pose will be collected.

Definition at line 993 of file ensenso_grabber.cpp.

void pcl::EnsensoGrabber::triggerCameras ( )

protected

triggers all available cameras

Definition at line 958 of file ensenso_grabber.cpp.

Member Data Documentation

NxLibItem pcl::EnsensoGrabber::camera_

protected

References to the camera tree.

Definition at line 549 of file ensenso_grabber.h.

bool pcl::EnsensoGrabber::device_open_

protected

Whether an Ensenso device is opened or not.

Definition at line 564 of file ensenso_grabber.h.

int pcl::EnsensoGrabber::far_plane_

protected

Far plane Parameter for the RenderPointMap command.

Definition at line 591 of file ensenso_grabber.h.

bool pcl::EnsensoGrabber::find_pattern_

protected

Whether the grabber tries to find the pattern or not.

Definition at line 560 of file ensenso_grabber.h.

float pcl::EnsensoGrabber::fps_

protected

Camera frames per second (FPS)

Definition at line 594 of file ensenso_grabber.h.

boost::mutex pcl::EnsensoGrabber::fps_mutex_

mutableprotected

Mutual exclusion for FPS computation.

Definition at line 603 of file ensenso_grabber.h.

boost::thread pcl::EnsensoGrabber::grabber_thread_

protected

Grabber thread.

Definition at line 531 of file ensenso_grabber.h.

boost::signals2::signal<sig_cb_ensenso_image_depth>* pcl::EnsensoGrabber::image_depth_signal_

protected

Boost depth image signal.

Definition at line 546 of file ensenso_grabber.h.

boost::signals2::signal<sig_cb_ensenso_images_rgb>* pcl::EnsensoGrabber::images_rgb_signal_

protected

Boost images rgb signal.

Definition at line 543 of file ensenso_grabber.h.

boost::signals2::signal<sig_cb_ensenso_images>* pcl::EnsensoGrabber::images_signal_

protected

Boost images signal.

Definition at line 540 of file ensenso_grabber.h.

Eigen::Affine3d pcl::EnsensoGrabber::last_pattern_pose_

protected

Last pose of the detected pattern during processGrabbing()

Definition at line 573 of file ensenso_grabber.h.

std::string pcl::EnsensoGrabber::last_stereo_pattern_

protected

Last raw stereo info of the detected pattern during processGrabbing()

Definition at line 576 of file ensenso_grabber.h.

bool pcl::EnsensoGrabber::mono_device_open_

protected

Whether an Ensenso device is opened or not.

Definition at line 567 of file ensenso_grabber.h.

NxLibItem pcl::EnsensoGrabber::monocam_

protected

Definition at line 551 of file ensenso_grabber.h.

int pcl::EnsensoGrabber::near_plane_

protected

Near plane Parameter for the RenderPointMap command.

Definition at line 588 of file ensenso_grabber.h.

boost::mutex pcl::EnsensoGrabber::pattern_mutex_

mutableprotected

Mutual exclusion for reading pattern pose.

Definition at line 582 of file ensenso_grabber.h.

boost::signals2::signal<sig_cb_ensenso_point_cloud_rgb>* pcl::EnsensoGrabber::point_cloud_rgb_signal_

protected

Boost point cloud signal with RGB.

Definition at line 537 of file ensenso_grabber.h.

boost::signals2::signal<sig_cb_ensenso_point_cloud>* pcl::EnsensoGrabber::point_cloud_signal_

protected

Boost point cloud signal.

Definition at line 534 of file ensenso_grabber.h.

boost::shared_ptr<const NxLibItem> pcl::EnsensoGrabber::root_

protected

Reference to the NxLib tree root.

Definition at line 554 of file ensenso_grabber.h.

bool pcl::EnsensoGrabber::running_

protected

Whether an Ensenso device is running or not.

Definition at line 585 of file ensenso_grabber.h.

bool pcl::EnsensoGrabber::store_calibration_pattern_

protected

Whether to read the pattern pose at processGrabbing() or not.

Definition at line 579 of file ensenso_grabber.h.

bool pcl::EnsensoGrabber::tcp_open_

protected

Whether an TCP port is opened or not.

Definition at line 570 of file ensenso_grabber.h.

Transform pcl::EnsensoGrabber::tf_left_to_rgb_

protected

translation from left camera to RGB frame

Definition at line 600 of file ensenso_grabber.h.

double pcl::EnsensoGrabber::timestamp_

protected

timestamp of the current frame

Definition at line 597 of file ensenso_grabber.h.

bool pcl::EnsensoGrabber::use_rgb_

protected

Whether the grabber uses RGB or not.

Definition at line 557 of file ensenso_grabber.h.

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

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Types

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation