Grabber for davidSDK structured light compliant devices.
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#include <pcl/io/davidsdk_grabber.h>
Grabber for davidSDK structured light compliant devices.
The davidSDK SDK allows to use a structured light scanner to fetch clouds/meshes.
The purpose of this grabber is NOT to provide all davidSDK functionalities but rather provide a PCL-unified interface to the sensor for basic operations.
Please consult the David-3d wiki for more information.
- Author
- Victor Lamoine (victo.nosp@m.r.la.nosp@m.moine.nosp@m.@gma.nosp@m.il.co.nosp@m.m)
Definition at line 66 of file davidsdk_grabber.h.
◆ DavidSDKGrabber()
pcl::DavidSDKGrabber::DavidSDKGrabber |
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◆ ~DavidSDKGrabber()
virtual pcl::DavidSDKGrabber::~DavidSDKGrabber |
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throw | ( | |
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virtual |
Destructor inherited from the Grabber interface.
It never throws.
◆ calibrate()
bool pcl::DavidSDKGrabber::calibrate |
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double |
grid_size | ) |
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Calibrate the scanner.
- Parameters
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[in] | grid_size | Size of the calibration grid in millimeters |
- Returns
- True if successful, false otherwise
More information here.
Also see ImportCalibration.
and ExportCalibration.
- Warning
- You MUST perform calibration each time you modify the camera/projector focus or move the camera relatively to the projector.
◆ connect()
david::ServerInfo pcl::DavidSDKGrabber::connect |
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const std::string & |
address = "127.0.0.1" , |
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uint16_t |
port = david::DAVID_SDK_DefaultPort |
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) |
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Connect client
- Parameters
-
- Returns
- Server info
◆ disconnect()
void pcl::DavidSDKGrabber::disconnect |
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const bool |
stop_server | ) |
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◆ getFileFormat()
std::string pcl::DavidSDKGrabber::getFileFormat |
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◆ getFramesPerSecond()
float pcl::DavidSDKGrabber::getFramesPerSecond |
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const |
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virtual |
Obtain the number of frames per second (FPS)
Implements pcl::Grabber.
◆ getLocalPath()
std::string pcl::DavidSDKGrabber::getLocalPath |
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◆ getName()
std::string pcl::DavidSDKGrabber::getName |
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const |
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virtual |
Get class name.
- Returns
- A string containing the class name
Implements pcl::Grabber.
◆ getRemotePath()
std::string pcl::DavidSDKGrabber::getRemotePath |
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◆ grabSingleCloud()
Capture a single point cloud and store it.
- Parameters
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[out] | cloud | The cloud to be filled |
- Returns
- True if successful, false otherwise
- Warning
- Calls DeleteAllMeshes()
◆ grabSingleMesh()
Capture a single mesh and store it.
- Parameters
-
[out] | mesh | The mesh to be filled |
- Returns
- True if successful, false otherwise
- Warning
- Calls DeleteAllMeshes()
◆ isConnected()
bool pcl::DavidSDKGrabber::isConnected |
( |
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const |
Check if the client is connected.
- Returns
- True if connected, false otherwise
◆ isRunning()
bool pcl::DavidSDKGrabber::isRunning |
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const |
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virtual |
Check if the data acquisition is still running.
- Returns
- True if running, false otherwise
Implements pcl::Grabber.
◆ processGrabbing()
void pcl::DavidSDKGrabber::processGrabbing |
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protected |
Continuously asks for images and or point clouds/meshes data from the device and publishes them if available.
◆ setFileFormatToOBJ()
void pcl::DavidSDKGrabber::setFileFormatToOBJ |
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◆ setFileFormatToPLY()
void pcl::DavidSDKGrabber::setFileFormatToPLY |
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Set file_format_ to "ply".
- Warning
- This format is NOT available with trial versions of the davidSDK server!
◆ setFileFormatToSTL()
void pcl::DavidSDKGrabber::setFileFormatToSTL |
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◆ setLocalAndRemotePaths()
void pcl::DavidSDKGrabber::setLocalAndRemotePaths |
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std::string |
local_path, |
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std::string |
remote_path |
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) |
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Set local_path_ and remote_path_ directory paths.
- Parameters
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[in] | local_path | |
[in] | remote_path | If the path is empty, using default value ("C:/temp") |
◆ setLocalPath()
void pcl::DavidSDKGrabber::setLocalPath |
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std::string |
path | ) |
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Set local_path_ path directory for scanning files.
- Parameters
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[in] | path | The directory path |
If the path is empty, using default value ("C:/temp")
◆ setRemotePath()
void pcl::DavidSDKGrabber::setRemotePath |
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std::string |
path | ) |
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◆ start()
void pcl::DavidSDKGrabber::start |
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virtual |
Start the point cloud and or image acquisition.
Implements pcl::Grabber.
◆ stop()
void pcl::DavidSDKGrabber::stop |
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virtual |
◆ client_connected_
bool pcl::DavidSDKGrabber::client_connected_ |
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protected |
◆ david_
david::Client pcl::DavidSDKGrabber::david_ |
◆ file_format_
std::string pcl::DavidSDKGrabber::file_format_ |
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protected |
Export file extension, available formats are STL, OBJ, PLY.
Definition at line 255 of file davidsdk_grabber.h.
◆ fps_mutex_
boost::mutex pcl::DavidSDKGrabber::fps_mutex_ |
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mutableprotected |
◆ frequency_
◆ grabber_thread_
boost::thread pcl::DavidSDKGrabber::grabber_thread_ |
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protected |
◆ image_signal_
boost::signals2::signal<sig_cb_davidsdk_image>* pcl::DavidSDKGrabber::image_signal_ |
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protected |
◆ local_path_
std::string pcl::DavidSDKGrabber::local_path_ |
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protected |
Local path of directory where the scanning file will be located.
- Note
- Default value is
C:/temp
Definition at line 247 of file davidsdk_grabber.h.
◆ mesh_image_signal_
boost::signals2::signal<sig_cb_davidsdk_mesh_image>* pcl::DavidSDKGrabber::mesh_image_signal_ |
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protected |
◆ mesh_signal_
boost::signals2::signal<sig_cb_davidsdk_mesh>* pcl::DavidSDKGrabber::mesh_signal_ |
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protected |
◆ point_cloud_image_signal_
boost::signals2::signal<sig_cb_davidsdk_point_cloud_image>* pcl::DavidSDKGrabber::point_cloud_image_signal_ |
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protected |
◆ point_cloud_signal_
boost::signals2::signal<sig_cb_davidsdk_point_cloud>* pcl::DavidSDKGrabber::point_cloud_signal_ |
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protected |
◆ remote_path_
std::string pcl::DavidSDKGrabber::remote_path_ |
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protected |
Remote path of directory where the scanning file will be located.
- Note
- If this is empty, the local_path_ will be used instead Default value is
C:/temp
Definition at line 252 of file davidsdk_grabber.h.
◆ running_
bool pcl::DavidSDKGrabber::running_ |
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protected |
The documentation for this class was generated from the following file: