Generic interface for PointCloud sources. More...

#include <GenericPointCloudGrabber.h>

Inheritance diagram for icl::geom::GenericPointCloudGrabber:

Public Member Functions
	GenericPointCloudGrabber ()
	Empty constructor (creates a null instance) More...

	GenericPointCloudGrabber (const std::string &sourceType, const std::string &srcDescription)
	Constructor with initialization. More...

	GenericPointCloudGrabber (const utils::ProgArg &pa)
	direct initialization from program argument More...

	~GenericPointCloudGrabber ()
	destructor More...

void	init (const std::string &sourceType, const std::string &srcDescription)
	deferred intialization More...

void	reinit (const std::string &description)
	re-initializes the current device More...

Camera	getDepthCamera () const
	forwards call to current backend More...

Camera	getColorCamera () const
	forwards call to current backend More...

void	setCameraWorldFrame (const math::FixedMatrix< float, 4, 4 > &T)
	forwards call to current backend More...

void	init (const utils::ProgArg &pa)
	deferred initialization from ProgArg (most common perhaps) More...

bool	isNull () const
	not initialized yet? More...

virtual void	grab (PointCloudObjectBase &dst)
	fills the given point cloud with grabbed information More...

virtual const core::Img32f *	getDepthImage () const
	returns the last grabbed point cloud's underlying depth image (if available) More...

virtual const core::Img8u *	getColorImage () const
	returns the last grabbed point cloud's underlying depth image (if available) More...

Public Member Functions inherited from icl::geom::PointCloudGrabber
virtual	~PointCloudGrabber ()
	virtual, but empty destructor More...

Public Member Functions inherited from icl::utils::Configurable
virtual	~Configurable ()
	virtual destructor More...

	Configurable (const Configurable &other)
	Copy constructor. More...

Configurable &	operator= (const Configurable &other)
	Assignment operator. More...

void	setConfigurableID (const std::string &ID)
	sets the ID of this configurable More...

const std::string &	getConfigurableID () const
	returns the configurables static ID More...

bool	isOrderedFlagSet () const
	returns whether the ordered flag is set More...

void	deactivateProperty (const std::string &pattern)
	adds an additional deativation pattern More...

void	deleteDeactivationPattern (const std::string &pattern)
	removed a formerly added deactivation pattern More...

std::vector< std::string >	getPropertyListWithoutDeactivated () const
	this returns a filtered list of properties (using all filters added by deactivateProperty) More...

virtual void	adaptProperty (const std::string &name, const std::string &newType, const std::string &newInfo, const std::string &newToolTip)
	this function can be used to adapt a specific property afterwards More...

void	registerCallback (const Callback &cb)
	add a callback for changed properties More...

void	removedCallback (const Callback &cb)
	removes a callback that was registered before More...

void	syncChangesTo (Configurable *others, int num=1)
	this can be used to let this instance also apply property changes to others More...

virtual void	setPropertyValue (const std::string &propertyName, const Any &value)
	sets a property value More...

virtual std::vector< std::string >	getPropertyList () const
	returns a list of All properties, that can be set using setProperty More...

virtual bool	supportsProperty (const std::string &propertyName) const
	base implementation for property check (seaches in the property list) More...

virtual void	saveProperties (const std::string &filename, const std::vector< std::string > &propertiesToSkip=EMPTY_VEC) const
	writes all available properties into a file More...

virtual void	loadProperties (const std::string &filename, const std::vector< std::string > &propertiesToSkip=EMPTY_VEC)
	reads a camera config file from disc More...

virtual std::string	getPropertyType (const std::string &propertyName) const
	get type of property More...

virtual std::string	getPropertyInfo (const std::string &propertyName) const
	get information of a properties valid values More...

virtual Any	getPropertyValue (const std::string &propertyName) const
	returns the current value of a property or a parameter More...

virtual std::string	getPropertyToolTip (const std::string &propertyName) const
	returns the tooltip description for a given property More...

virtual int	getPropertyVolatileness (const std::string &propertyName) const
	Returns whether this property may be changed internally. More...

Private Attributes
Data *	m_data

Additional Inherited Members
Public Types inherited from icl::utils::Configurable
typedef Function< void, const Property & >	Callback
	Function type for changed properties. More...

Static Public Member Functions inherited from icl::utils::Configurable
static std::string	create_default_ID (const std::string &prefix)
	this function can be used in subclasses to create a default ID More...

static Configurable *	get (const std::string &id)
	returns configurable by given ID More...

static void	register_configurable_type (const std::string &classname, Function< Configurable * > creator)
	registers a configurable type More...

static std::vector< std::string >	get_registered_configurables ()
	returns a list of all registered configurable classnames More...

static Configurable *	create_configurable (const std::string &classname)
	creates a configurable by given name More...

Static Public Attributes inherited from icl::utils::Configurable
static const std::vector< std::string >	EMPTY_VEC
	used as shortcut – just an empty vector of std::strings More...

Protected Member Functions inherited from icl::utils::Configurable
void	addProperty (const std::string &name, const std::string &type, const std::string &info, const Any &value=Any(), const int volatileness=0, const std::string &tooltip=std::string())
	This can be used by derived classes to store supported properties in the internal list. More...

void	addChildConfigurable (Configurable *configurable, const std::string &childPrefix="")
	This adds another configurable as child. More...

void	removeChildConfigurable (Configurable *configurable)
	removes the given child configurable More...

Property &	prop (const std::string &propertyName)
	this CAN be used e.g. to store a property value in internal property-list More...

const Property &	prop (const std::string &propertyName) const
	this CAN be used e.g. to store a property value in internal property-list More...

	Configurable (const std::string &ID="", bool ordered=true)
	create this configurable with given ID More...

void	call_callbacks (const std::string &propertyName, const Configurable *caller) const
	calls all registered callbacks More...

Protected Attributes inherited from icl::utils::Configurable
std::vector< Callback >	callbacks
	internally managed list of callbacks More...

Detailed Description

Generic interface for PointCloud sources.

Constructor & Destructor Documentation

◆ GenericPointCloudGrabber() [1/3]

icl::geom::GenericPointCloudGrabber::GenericPointCloudGrabber ( )

Empty constructor (creates a null instance)

◆ GenericPointCloudGrabber() [2/3]

icl::geom::GenericPointCloudGrabber::GenericPointCloudGrabber	(	const std::string &	sourceType,
		const std::string &	srcDescription
	)

Constructor with initialization.

Possible plugins: dcam device description is then: "depth-cam-type,depth-cam-id,depth-cam-file" optionally ",color-cam-type,color-cam-id,color-cam-file" an additional comma-seperated token "raw" can be passed to make the grabber compatible to Kinect11BitRaw depth input images file filename pattern (not yet implemented) rsb [rsb-transport-list:]rsb-scope-list[,depth-cam-filename[,color-cam-filename]]

◆ GenericPointCloudGrabber() [3/3]

icl::geom::GenericPointCloudGrabber::GenericPointCloudGrabber ( const utils::ProgArg & pa )

direct initialization from program argument

Prog-arg is assumed to have 2 sub-args

◆ ~GenericPointCloudGrabber()

icl::geom::GenericPointCloudGrabber::~GenericPointCloudGrabber ( )

destructor

Member Function Documentation

◆ getColorCamera()

Camera icl::geom::GenericPointCloudGrabber::getColorCamera ( ) const

virtual

forwards call to current backend

Reimplemented from icl::geom::PointCloudGrabber.

◆ getColorImage()

virtual const core::Img8u* icl::geom::GenericPointCloudGrabber::getColorImage ( ) const

virtual

returns the last grabbed point cloud's underlying depth image (if available)

Reimplemented from icl::geom::PointCloudGrabber.

◆ getDepthCamera()

Camera icl::geom::GenericPointCloudGrabber::getDepthCamera ( ) const

virtual

forwards call to current backend

Reimplemented from icl::geom::PointCloudGrabber.

◆ getDepthImage()

virtual const core::Img32f* icl::geom::GenericPointCloudGrabber::getDepthImage ( ) const

virtual

returns the last grabbed point cloud's underlying depth image (if available)

Reimplemented from icl::geom::PointCloudGrabber.

◆ grab()

virtual void icl::geom::GenericPointCloudGrabber::grab ( PointCloudObjectBase & dst )

virtual

fills the given point cloud with grabbed information

Implements icl::geom::PointCloudGrabber.

◆ init() [1/2]

void icl::geom::GenericPointCloudGrabber::init	(	const std::string &	sourceType,
		const std::string &	srcDescription
	)

deferred intialization

◆ init() [2/2]

void icl::geom::GenericPointCloudGrabber::init ( const utils::ProgArg & pa )

deferred initialization from ProgArg (most common perhaps)

Prog-arg is assumed to have 2 sub-args

◆ isNull()

bool icl::geom::GenericPointCloudGrabber::isNull ( ) const

not initialized yet?

◆ reinit()

void icl::geom::GenericPointCloudGrabber::reinit ( const std::string & description )

virtual

re-initializes the current device

The backend can choose to throw an exception. The syntax for reinitialization is defined by each backend individually

Reimplemented from icl::geom::PointCloudGrabber.

◆ setCameraWorldFrame()

void icl::geom::GenericPointCloudGrabber::setCameraWorldFrame ( const math::FixedMatrix< float, 4, 4 > & T )

virtual

forwards call to current backend

Reimplemented from icl::geom::PointCloudGrabber.

Member Data Documentation

◆ m_data

Data* icl::geom::GenericPointCloudGrabber::m_data

private

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

/Users/alneuman/vm/icl/ICLGeom/src/ICLGeom/GenericPointCloudGrabber.h

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GenericPointCloudGrabber() [1/3]

◆ GenericPointCloudGrabber() [2/3]

◆ GenericPointCloudGrabber() [3/3]

◆ ~GenericPointCloudGrabber()

Member Function Documentation

◆ getColorCamera()

◆ getColorImage()

◆ getDepthCamera()

◆ getDepthImage()

◆ grab()

◆ init() [1/2]

◆ init() [2/2]

◆ isNull()

◆ reinit()

◆ setCameraWorldFrame()

Member Data Documentation

◆ m_data