Image Component Library (ICL)
Public Member Functions | List of all members
icl::geom::PointCloudGrabber Struct Referenceabstract

Generic interface for PointCloud sources. More...

#include <PointCloudGrabber.h>

Inheritance diagram for icl::geom::PointCloudGrabber:
icl::utils::Configurable icl::geom::DepthCameraPointCloudGrabber icl::geom::GenericPointCloudGrabber icl::geom::PCDFileGrabber icl::geom::RSBPointCloudGrabber icl::geom::Scene icl::physics::PhysicsScene

Public Member Functions

virtual void grab (PointCloudObjectBase &dst)=0
 fills the given point cloud with grabbed information More...
 
virtual ~PointCloudGrabber ()
 virtual, but empty destructor More...
 
virtual const core::Img32fgetDepthImage () const
 returns the last grabbed point cloud's underlying depth image (if available) More...
 
virtual const core::Img8ugetColorImage () const
 returns the last grabbed point cloud's underlying depth image (if available) More...
 
virtual Camera getDepthCamera () const throw (utils::ICLException)
 returns current depth camera (CAN be implemented by implementation More...
 
virtual Camera getColorCamera () const throw (utils::ICLException)
 
virtual void setCameraWorldFrame (const math::FixedMatrix< float, 4, 4 > &T) throw (utils::ICLException)
 
virtual void reinit (const std::string &description) throw (utils::ICLException)
 re-initializes the current device More...
 
- Public Member Functions inherited from icl::utils::Configurable
virtual ~Configurable ()
 virtual destructor More...
 
 Configurable (const Configurable &other)
 Copy constructor. More...
 
Configurableoperator= (const Configurable &other)
 Assignment operator. More...
 
void setConfigurableID (const std::string &ID) throw (ICLException)
 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) throw (ICLException)
 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) throw (ICLException)
 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...
 

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 Configurableget (const std::string &id)
 returns configurable by given ID More...
 
static void register_configurable_type (const std::string &classname, Function< Configurable * > creator) throw (ICLException)
 registers a configurable type More...
 
static std::vector< std::string > get_registered_configurables ()
 returns a list of all registered configurable classnames More...
 
static Configurablecreate_configurable (const std::string &classname) throw (ICLException)
 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()) throw (ICLException)
 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...
 
Propertyprop (const std::string &propertyName) throw (ICLException)
 this CAN be used e.g. to store a property value in internal property-list More...
 
const Propertyprop (const std::string &propertyName) const throw (ICLException)
 this CAN be used e.g. to store a property value in internal property-list More...
 
 Configurable (const std::string &ID="", bool ordered=true) throw (ICLException)
 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< Callbackcallbacks
 internally managed list of callbacks More...
 

Detailed Description

Generic interface for PointCloud sources.

Constructor & Destructor Documentation

virtual icl::geom::PointCloudGrabber::~PointCloudGrabber ( )
inlinevirtual

virtual, but empty destructor

Member Function Documentation

virtual Camera icl::geom::PointCloudGrabber::getColorCamera ( ) const
throw (utils::ICLException
)
inlinevirtual
virtual const core::Img8u* icl::geom::PointCloudGrabber::getColorImage ( ) const
inlinevirtual

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

Reimplemented in icl::geom::DepthCameraPointCloudGrabber, and icl::geom::GenericPointCloudGrabber.

virtual Camera icl::geom::PointCloudGrabber::getDepthCamera ( ) const
throw (utils::ICLException
)
inlinevirtual

returns current depth camera (CAN be implemented by implementation

Reimplemented in icl::geom::DepthCameraPointCloudGrabber, icl::geom::GenericPointCloudGrabber, and icl::geom::RSBPointCloudGrabber.

virtual const core::Img32f* icl::geom::PointCloudGrabber::getDepthImage ( ) const
inlinevirtual

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

Reimplemented in icl::geom::DepthCameraPointCloudGrabber, and icl::geom::GenericPointCloudGrabber.

virtual void icl::geom::PointCloudGrabber::grab ( PointCloudObjectBase dst)
pure virtual
virtual void icl::geom::PointCloudGrabber::reinit ( const std::string &  description)
throw (utils::ICLException
)
inlinevirtual

re-initializes the current device

The backend can choose to throw an exception

Reimplemented in icl::geom::DepthCameraPointCloudGrabber, and icl::geom::GenericPointCloudGrabber.

virtual void icl::geom::PointCloudGrabber::setCameraWorldFrame ( const math::FixedMatrix< float, 4, 4 > &  T)
throw (utils::ICLException
)
inlinevirtual

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