Simulates a Kinnect grabbing RGBD images. More...

#include <SimulatedKinect.hpp>

Public Types
typedef rw::core::Ptr< SimulatedKinect >	Ptr

Public Types inherited from SimulatedSensor
typedef rw::core::Ptr< SimulatedSensor >	Ptr
	smart pointer type of this class

Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
	SimulatedKinect (const std::string &name, rw::core::Ptr< rw::kinematics::Frame > frame)
	constructor More...

	SimulatedKinect (const std::string &name, const std::string &desc, rw::core::Ptr< rw::kinematics::Frame > frame)
	constructor More...

	SimulatedKinect (rw::core::Ptr< rw::sensor::CameraModel > camModel, rw::core::Ptr< rw::sensor::Scanner25DModel > scannerModel)
	constructor More...

virtual	~SimulatedKinect ()
	destructor

bool	init (rw::core::Ptr< rw::graphics::SceneViewer > drawer)
	Initialize sensor. More...

void	setFrameRate (double rate)
	set the framerate in frames per sec. More...

void	open ()
	Opens connection to the scanner. More...

bool	isOpen ()
	Returns whether the scanner has been opened. More...

void	close ()
	Closes the connection to the scanner. More...

void	acquire ()
	Acquires data. More...

bool	isDataReady ()
	tests whether an image has been acquired More...

std::pair< double, double >	getRange () const
	Returns the min and max range of this Scanner. More...

double	getFrameRate () const
	returns the framerate that this camera is setup with More...

const rw::geometry::PointCloud &	getScan ()
	Simulates a Kinnect grabbing RGBD images. More...

const rw::sensor::Image &	getImage ()
	Get scanned image. More...

void	update (const rwlibs::simulation::Simulator::UpdateInfo &info, rw::kinematics::State &state)
	steps the the SimulatedSensor with time dt and saves any state changes in state. More...

void	reset (const rw::kinematics::State &state)
	Resets the state of the SimulatedSensor to that of state. More...

rw::core::Ptr< rw::sensor::Sensor >	getSensorHandle (rw::core::Ptr< rwlibs::simulation::Simulator > simulator)
	get a handle to controlling an instance of the simulated sensor in a specific simulator More...

void	setNoiseEnabled (bool enabled)
	set to true to enable realistic noise on the scan. More...

double	getVerticalFieldOfView () const
	returns the vertical field of view More...

int	getWidth () const
	returns the width of the image More...

int	getHeight () const
	returns the height of the image More...

rw::core::Ptr< rw::sensor::CameraModel >	getCameraModel ()
	get the model of the camera of this kinect

rw::core::Ptr< rw::sensor::Scanner25DModel >	getScannerModel ()
	get the model of the range scannger of this kinect

Public Member Functions inherited from SimulatedSensor
virtual	~SimulatedSensor ()
	destructor

const std::string &	getName () const
	get name of this simulated sensor

rw::kinematics::Frame *	getFrame () const
	get frame that this sensor is attached to. More...

rw::sensor::SensorModel::Ptr	getSensorModel ()
	get the sensor model of this simulated sensor.

rw::sensor::Sensor::Ptr	getSensorHandle (rwlibs::simulation::Simulator::Ptr sim)
	get a handle to controlling an instance of the simulated sensor in a specific simulator More...

Public Member Functions inherited from Stateless
virtual	~Stateless ()
	destructor

virtual void	registerIn (State &state)
	initialize this stateless data to a specific state More...

virtual void	registerIn (StateStructure::Ptr state)
	register this stateless object in a statestructure.

virtual void	unregister ()
	unregisters all state data of this stateless object

StateStructure::Ptr	getStateStructure ()
	Get the state structure. More...

const StateStructure::Ptr	getStateStructure () const
	Get the state structure. More...

bool	isRegistered ()
	Check if object has registered its state. More...

Additional Inherited Members
Protected Member Functions inherited from SimulatedSensor
	SimulatedSensor (rw::sensor::SensorModel::Ptr model)
	constructor

Protected Member Functions inherited from Stateless
	Stateless ()
	constructor

template<class T >
void	add (StatelessData< T > &data)
	implementations of sensor should add all their stateless data on initialization

void	add (StateData *data)
	Add data. More...

void	add (rw::core::Ptr< StateData > data)
	implementations of sensor should add all their state data on initialization

Protected Attributes inherited from Stateless
bool	_registered
	True if object has registered its state.

std::vector< rw::core::Ptr< StateData > >	_datas
	Data.

StateStructure::Ptr	_stateStruct
	The state structure.

Detailed Description

Simulates a Kinnect grabbing RGBD images.

Constructor & Destructor Documentation

◆ SimulatedKinect() [1/3]

SimulatedKinect	(	const std::string &	name,
		rw::core::Ptr< rw::kinematics::Frame >	frame
	)

constructor

Parameters

name	[in] name of this simulated scanner
frame	[in] the frame the scanner is attached to.

◆ SimulatedKinect() [2/3]

SimulatedKinect	(	const std::string &	name,
		const std::string &	desc,
		rw::core::Ptr< rw::kinematics::Frame >	frame
	)

constructor

Parameters

name	[in] name of this simulated scanner
desc	[in] description of this scanner
frame	[in] the frame the scanner is attached to.

◆ SimulatedKinect() [3/3]

SimulatedKinect	(	rw::core::Ptr< rw::sensor::CameraModel >	camModel,
		rw::core::Ptr< rw::sensor::Scanner25DModel >	scannerModel
	)

constructor

Parameters

camModel	[in] the camera model to use
scannerModel	[in] the scanner model to use

Member Function Documentation

◆ acquire()

void acquire ( )

Acquires data.

◆ close()

void close ( )

Closes the connection to the scanner.

◆ getFrameRate()

double getFrameRate ( ) const

returns the framerate that this camera is setup with

Returns: the framerate in frames per second

◆ getHeight()

int getHeight ( ) const

inline

returns the height of the image

Returns: the height of the image

◆ getImage()

const rw::sensor::Image& getImage ( )

Get scanned image.

Returns: a reference to the image.

◆ getRange()

std::pair<double, double> getRange ( ) const

Returns the min and max range of this Scanner.

Returns: min and max range

◆ getScan()

const rw::geometry::PointCloud& getScan ( )

Simulates a Kinnect grabbing RGBD images.

◆ getSensorHandle()

rw::core::Ptr<rw::sensor::Sensor> getSensorHandle ( rw::core::Ptr< rwlibs::simulation::Simulator > simulator )

get a handle to controlling an instance of the simulated sensor in a specific simulator

Parameters

simulator [in] the simulator in which the handle is active

◆ getVerticalFieldOfView()

double getVerticalFieldOfView ( ) const

inline

returns the vertical field of view

Returns: the vertical field of view

◆ getWidth()

int getWidth ( ) const

inline

returns the width of the image

Returns: the width of the image

◆ init()

bool init ( rw::core::Ptr< rw::graphics::SceneViewer > drawer )

Initialize sensor.

Parameters

drawer [in] the scene viewer.

Returns: true if initialization succeeded, false otherwise (depends on the capabilities of the SceneViewer).

◆ isDataReady()

bool isDataReady ( )

tests whether an image has been acquired

Returns: true if an image has been acquired, false otherwise.

◆ isOpen()

bool isOpen ( )

Returns whether the scanner has been opened.

Returns: true if scanner is opened

◆ open()

void open ( )

Opens connection to the scanner.

◆ reset()

void reset ( const rw::kinematics::State & state )

virtual

Resets the state of the SimulatedSensor to that of state.

Parameters

state [in] the state that the sensor is reset too.

Implements SimulatedSensor.

◆ setFrameRate()

void setFrameRate ( double rate )

set the framerate in frames per sec.

Parameters

rate	[in] frames per sec

◆ setNoiseEnabled()

void setNoiseEnabled ( bool enabled )

inline

set to true to enable realistic noise on the scan.

Parameters

enabled [in]

◆ update()

void update	(	const rwlibs::simulation::Simulator::UpdateInfo &	info,
		rw::kinematics::State &	state
	)

virtual

steps the the SimulatedSensor with time dt and saves any state changes in state.

Parameters

info	[in] update information related to the time step.
state	[out] changes of the SimulatedSensor is saved in state.

Implements SimulatedSensor.

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

SimulatedKinect.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SimulatedKinect() [1/3]

◆ SimulatedKinect() [2/3]

◆ SimulatedKinect() [3/3]

Member Function Documentation

◆ acquire()

◆ close()

◆ getFrameRate()

◆ getHeight()

◆ getImage()

◆ getRange()

◆ getScan()

◆ getSensorHandle()

◆ getVerticalFieldOfView()

◆ getWidth()

◆ init()

◆ isDataReady()

◆ isOpen()

◆ open()

◆ reset()

◆ setFrameRate()

◆ setNoiseEnabled()

◆ update()