This is input class for sensor as camera. More...

#include <input_sensor_file_rosbagbin.h>

Inheritance diagram for InputSensorFileRosbagBin:

Public Member Functions
void	closeSensor ()
	closes the input file More...

void	configureSensor (int camera_mode)
	Configures the sensor. More...

void	getExtrinsics (CameraExtrinsics *camera_extrinsics_data)
	gets camera extrinsics More...

bool	getFrameTimestamp (ros::Time *timestamp)
	returns frame timestamp More...

void	getIntrinsics (CameraIntrinsics *camera_intrinsics_data)
	Gets the camera intrinsics. More...

	InputSensorFileRosbagBin ()

void	openSensor (std::string sensor_name, int input_image_width, int input_image_height, std::string config_file_name, std::string input_sensor_ip)
	opens the bag file. More...

bool	readNextFrame (unsigned short out_depth_frame, unsigned short out_ab_frame, unsigned short out_conf_frame, short out_xyz_frame)
	reads next frame More...

void	setABinvalidationThreshold (int threshold)
	set ABinvalidation threshold More...

void	setConfidenceThreshold (int threshold)
	Set Confidence Threshold. More...

void	setJBLFFilterSize (int jbfl_filter_size)
	sets the size of JBLF filter More...

void	setJBLFFilterState (bool enable_jblf_filter)
	sets the state of JBLF filter More...

void	setRadialFilterMaxThreshold (int radial_max_threshold)
	sets the maximum threshold for radial filter More...

void	setRadialFilterMinThreshold (int radial_min_threshold)
	sets the minimum threshold for radial filter More...

Public Member Functions inherited from IInputSensor
int	getFrameCounter ()
	Get the current Frame count value. More...

int	getFrameHeight ()
	Get the Frame Height object Only integer scaling is supported. More...

int	getFrameWidth ()
	Get the Frame Width object Only integer scaling is supported. More...

bool	isOpened ()
	function to check whether input is opened More...

void	setFrameHeight (int frm_height)
	Sett the Frame Height object Only integer scaling is supported. More...

void	setFrameWidth (int frm_width)
	Set the Frame Width object Only integer scaling is supported. More...

void	setProcessingScale (int scale_factor)
	Set the Processing Scale object. More...

Private Attributes
uint32_t	bytes_per_pixel_ = 2

uint8_t	cam_info_buffer_ [400]

CameraExtrinsics	camera_extrinsics_

CameraIntrinsics	camera_intrinsics_

uint64_t	device_timestamp_ = 0

uint32_t	frame_pitch_ = 0

uint64_t	frame_timestamp_ = 0

uint8_t	header_buffer_ [36]

uint32_t	header_version_ = 0

std::ifstream	in_file_

std::string	in_file_name_

uint32_t	input_frame_height_

uint32_t	input_frame_width_

int	processing_scale_

uint32_t	total_frames_ = 0

Additional Inherited Members
Protected Attributes inherited from IInputSensor
int	bytes_per_pixel_ = 2

unsigned int	frame_counter_ = 0

int	frame_height_ = 1024

int	frame_width_ = 1024

int	input_scale_factor_ = 2

bool	sensor_open_flag_

Detailed Description

This is input class for sensor as camera.

Definition at line 18 of file input_sensor_file_rosbagbin.h.

Constructor & Destructor Documentation

◆ InputSensorFileRosbagBin()

InputSensorFileRosbagBin::InputSensorFileRosbagBin ( )

inline

Definition at line 25 of file input_sensor_file_rosbagbin.h.

Member Function Documentation

◆ closeSensor()

void InputSensorFileRosbagBin::closeSensor ( )

virtual

closes the input file

Implements IInputSensor.

Definition at line 320 of file input_sensor_file_rosbagbin.cpp.

◆ configureSensor()

void InputSensorFileRosbagBin::configureSensor ( int camera_mode )

virtual

Configures the sensor.

Parameters

camera_mode camera mode, not used in file-io mode

Implements IInputSensor.

Definition at line 42 of file input_sensor_file_rosbagbin.cpp.

◆ getExtrinsics()

void InputSensorFileRosbagBin::getExtrinsics ( CameraExtrinsics * camera_extrinsics_data )

virtual

gets camera extrinsics

Parameters

camera_extrinsics_data camera extrinsics

Implements IInputSensor.

Definition at line 170 of file input_sensor_file_rosbagbin.cpp.

◆ getFrameTimestamp()

bool InputSensorFileRosbagBin::getFrameTimestamp ( ros::Time * timestamp )

virtual

returns frame timestamp

Implements IInputSensor.

Definition at line 304 of file input_sensor_file_rosbagbin.cpp.

◆ getIntrinsics()

void InputSensorFileRosbagBin::getIntrinsics ( CameraIntrinsics * camera_intrinsics_data )

virtual

Gets the camera intrinsics.

Parameters

camera_intrinsics_data camera intrinsics

Implements IInputSensor.

Definition at line 159 of file input_sensor_file_rosbagbin.cpp.

◆ openSensor()

void InputSensorFileRosbagBin::openSensor	(	std::string	sensor_name,
		int	input_image_width,
		int	input_image_height,
		std::string	config_file_name,
		std::string	input_sensor_ip
	)

virtual

opens the bag file.

Parameters

sensor_name	the input bag file name
input_image_width	image width
input_image_height	image height
processing_scale	scales the image dimensions and camera intrinsics.
config_file_name	config file name of ToF SDK is not used as this is file io mode.

Implements IInputSensor.

Definition at line 21 of file input_sensor_file_rosbagbin.cpp.

◆ readNextFrame()

bool InputSensorFileRosbagBin::readNextFrame	(	unsigned short *	out_depth_frame,
		unsigned short *	out_ab_frame,
		unsigned short *	out_conf_frame,
		short *	out_xyz_frame
	)

virtual

reads next frame

Parameters

out_depth_frame	pointer to read depth frame
out_ab_frame	pointer to read ab frame

Returns: true if reading next frame is successful.; false if reading next frame is failure.

Implements IInputSensor.

Definition at line 185 of file input_sensor_file_rosbagbin.cpp.

◆ setABinvalidationThreshold()

void InputSensorFileRosbagBin::setABinvalidationThreshold ( int threshold )

inlinevirtual

set ABinvalidation threshold

Parameters

threshold ABinvalidation threshold

Implements IInputSensor.

Definition at line 80 of file input_sensor_file_rosbagbin.h.

◆ setConfidenceThreshold()

void InputSensorFileRosbagBin::setConfidenceThreshold ( int threshold )

inlinevirtual

Set Confidence Threshold.

Parameters

threshold Confidence threshold

Implements IInputSensor.

Definition at line 91 of file input_sensor_file_rosbagbin.h.

◆ setJBLFFilterSize()

void InputSensorFileRosbagBin::setJBLFFilterSize ( int jbfl_filter_size )

inlinevirtual

sets the size of JBLF filter

Parameters

jbfl_filter_size parameter to set JBLF filter size

Implements IInputSensor.

Definition at line 113 of file input_sensor_file_rosbagbin.h.

◆ setJBLFFilterState()

void InputSensorFileRosbagBin::setJBLFFilterState ( bool enable_jblf_filter )

inlinevirtual

sets the state of JBLF filter

Parameters

enable_jblf_filter parameter to enable or disable JBLF filter

Implements IInputSensor.

Definition at line 102 of file input_sensor_file_rosbagbin.h.

◆ setRadialFilterMaxThreshold()

void InputSensorFileRosbagBin::setRadialFilterMaxThreshold ( int radial_max_threshold )

inlinevirtual

sets the maximum threshold for radial filter

Parameters

radial_threshold_max parameter to set maximum threshold for radial filter

Implements IInputSensor.

Definition at line 135 of file input_sensor_file_rosbagbin.h.

◆ setRadialFilterMinThreshold()

void InputSensorFileRosbagBin::setRadialFilterMinThreshold ( int radial_min_threshold )

inlinevirtual

sets the minimum threshold for radial filter

Parameters

radial_threshold_min parameter to set minimum threshold for radial filter

Implements IInputSensor.

Definition at line 124 of file input_sensor_file_rosbagbin.h.

Member Data Documentation

◆ bytes_per_pixel_

uint32_t InputSensorFileRosbagBin::bytes_per_pixel_ = 2

private

Definition at line 151 of file input_sensor_file_rosbagbin.h.

◆ cam_info_buffer_

uint8_t InputSensorFileRosbagBin::cam_info_buffer_[400]

private

Definition at line 154 of file input_sensor_file_rosbagbin.h.

◆ camera_extrinsics_

CameraExtrinsics InputSensorFileRosbagBin::camera_extrinsics_

private

Definition at line 156 of file input_sensor_file_rosbagbin.h.

◆ camera_intrinsics_

CameraIntrinsics InputSensorFileRosbagBin::camera_intrinsics_

private

Definition at line 155 of file input_sensor_file_rosbagbin.h.

◆ device_timestamp_

uint64_t InputSensorFileRosbagBin::device_timestamp_ = 0

private

Definition at line 149 of file input_sensor_file_rosbagbin.h.

◆ frame_pitch_

uint32_t InputSensorFileRosbagBin::frame_pitch_ = 0

private

Definition at line 148 of file input_sensor_file_rosbagbin.h.

◆ frame_timestamp_

uint64_t InputSensorFileRosbagBin::frame_timestamp_ = 0

private

Definition at line 150 of file input_sensor_file_rosbagbin.h.

◆ header_buffer_

uint8_t InputSensorFileRosbagBin::header_buffer_[36]

private

Definition at line 153 of file input_sensor_file_rosbagbin.h.

◆ header_version_

uint32_t InputSensorFileRosbagBin::header_version_ = 0

private

Definition at line 147 of file input_sensor_file_rosbagbin.h.

◆ in_file_

std::ifstream InputSensorFileRosbagBin::in_file_

private

Definition at line 143 of file input_sensor_file_rosbagbin.h.

◆ in_file_name_

std::string InputSensorFileRosbagBin::in_file_name_

private

Definition at line 142 of file input_sensor_file_rosbagbin.h.

◆ input_frame_height_

uint32_t InputSensorFileRosbagBin::input_frame_height_

private

Definition at line 145 of file input_sensor_file_rosbagbin.h.

◆ input_frame_width_

uint32_t InputSensorFileRosbagBin::input_frame_width_

private

Definition at line 144 of file input_sensor_file_rosbagbin.h.

◆ processing_scale_

int InputSensorFileRosbagBin::processing_scale_

private

Definition at line 146 of file input_sensor_file_rosbagbin.h.

◆ total_frames_

uint32_t InputSensorFileRosbagBin::total_frames_ = 0

private

Definition at line 152 of file input_sensor_file_rosbagbin.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ InputSensorFileRosbagBin()

Member Function Documentation

◆ closeSensor()

◆ configureSensor()

◆ getExtrinsics()

◆ getFrameTimestamp()

◆ getIntrinsics()

◆ openSensor()

◆ readNextFrame()

◆ setABinvalidationThreshold()

◆ setConfidenceThreshold()

◆ setJBLFFilterSize()

◆ setJBLFFilterState()

◆ setRadialFilterMaxThreshold()

◆ setRadialFilterMinThreshold()

Member Data Documentation

◆ bytes_per_pixel_

◆ cam_info_buffer_

◆ camera_extrinsics_

◆ camera_intrinsics_

◆ device_timestamp_

◆ frame_pitch_

◆ frame_timestamp_

◆ header_buffer_

◆ header_version_

◆ in_file_

◆ in_file_name_

◆ input_frame_height_

◆ input_frame_width_

◆ processing_scale_

◆ total_frames_