vpOccipitalStructure Class Reference

#include <visp3/sensor/vpOccipitalStructure.h>

Public Types
enum	vpOccipitalStructureStream { visible, depth, infrared, imu }

Public Member Functions
	vpOccipitalStructure ()
	~vpOccipitalStructure ()
void	acquire (vpImage< unsigned char > &gray, bool undistorted=false, double *ts=NULL)
void	acquire (vpImage< vpRGBa > &rgb, bool undistorted=false, double *ts=NULL)
void	acquire (vpImage< vpRGBa > *rgb, vpImage< vpRGBa > *depth, vpColVector *acceleration_data=NULL, vpColVector *gyroscope_data=NULL, bool undistorted=false, double *ts=NULL)
void	acquire (vpImage< unsigned char > *gray, vpImage< vpRGBa > *depth, vpColVector *acceleration_data=NULL, vpColVector *gyroscope_data=NULL, bool undistorted=false, double *ts=NULL)
void	acquire (unsigned char *const data_image, unsigned char *const data_depth, std::vector< vpColVector > *const data_pointCloud=NULL, unsigned char *const data_infrared=NULL, vpColVector *acceleration_data=NULL, vpColVector *gyroscope_data=NULL, bool undistorted=true, double *ts=NULL)
void	acquire (unsigned char *const data_image, unsigned char *const data_depth, std::vector< vpColVector > *const data_pointCloud, pcl::PointCloud< pcl::PointXYZ >::Ptr &pointcloud, unsigned char *const data_infrared=NULL, vpColVector *acceleration_data=NULL, vpColVector *gyroscope_data=NULL, bool undistorted=true, double *ts=NULL)
void	acquire (unsigned char *const data_image, unsigned char *const data_depth, std::vector< vpColVector > *const data_pointCloud, pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pointcloud, unsigned char *const data_infrared=NULL, vpColVector *acceleration_data=NULL, vpColVector *gyroscope_data=NULL, bool undistorted=true, double *ts=NULL)
void	getIMUVelocity (vpColVector *imu_vel, double *ts)
void	getIMUAcceleration (vpColVector *imu_acc, double *ts)
void	getIMUData (vpColVector *imu_vel, vpColVector *imu_acc, double *ts=NULL)
bool	open (const ST::CaptureSessionSettings &settings)
void	close ()
ST::StructureCoreCameraType	getCameraType () const
ST::CaptureSessionUSBVersion	getUSBVersion () const
std::string	getSerialNumber () const
ST::CaptureSession &	getCaptureSession ()
ST::CaptureSessionSettings &	getCaptureSessionSettings ()
unsigned int	getWidth (vpOccipitalStructureStream stream_type)
unsigned int	getHeight (vpOccipitalStructureStream stream_type)
float	getDepth (int x, int y)
vpPoint	unprojectPoint (int row, int col)
vpHomogeneousMatrix	getTransform (const vpOccipitalStructureStream from, const vpOccipitalStructureStream to)
ST::Intrinsics	getIntrinsics (const vpOccipitalStructureStream stream_type) const
vpCameraParameters	getCameraParameters (const vpOccipitalStructureStream stream_type, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithoutDistortion)
void	saveDepthImageAsPointCloudMesh (std::string &filename)

Protected Member Functions
void	getPointcloud (std::vector< vpColVector > &pointcloud)
void	getPointcloud (pcl::PointCloud< pcl::PointXYZ >::Ptr &pointcloud)
void	getColoredPointcloud (pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pointcloud)

Protected Attributes
bool	m_init
float	m_invalidDepthValue
float	m_maxZ
ST::CaptureSession	m_captureSession
ST::CaptureSessionSettings	m_captureSessionSettings
SessionDelegate	m_delegate
vpCameraParameters	m_visible_camera_parameters
vpCameraParameters	m_depth_camera_parameters

Detailed Description

This class provides a wrapper over the Occipital Structure SDK library https://structure.io/developers. It allows to capture data from the Occipital Structure Core camera.

Note

Supported devices for Occipital Structure SDK 0.9:

• Occipital Structure Core.

The usage of vpOccipitalStructure class is enabled when libStructure 3rd party is successfully installed. The following tutorials explain how to proceed:

• Tutorial: Installation from source for Linux Ubuntu or Debian
• Tutorial: Installation from source for Windows with Visual C++ 2019 (vc16)
• Tutorial: Installation from source for macOS with Homebrew

Moreover, if Point Cloud Library (PCL) 3rd party is installed, we also propose interfaces to retrieve point cloud as pcl::PointCloud<pcl::PointXYZ> or pcl::PointCloud<pcl::PointXYZRGB> data structures.

Warning

Notice that the usage of this class requires compiler and library support for the ISO C++ 2011 standard. This support is enabled by default in ViSP when supported by the compiler. Hereafter we give an example of a CMakeLists.txt file that allows to build sample-structure-core.cpp that uses vpOccipitalStructure class.

project(sample)
cmake_minimum_required(VERSION 3.0)

find_package(VISP REQUIRED)
include_directories(${VISP_INCLUDE_DIRS})

add_executable(sample-structure-core sample-structure-core.cpp)
target_link_libraries(sample-structure-core ${VISP_LIBRARIES})

To acquire images from the Structure Core color camera and convert them into grey level images, a good starting is to use the following code that corresponds to the content of `sample-structure-core.cpp:

#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpOccipitalStructure.h>

int main()
{
  vpOccipitalStructure sc;
  ST::CaptureSessionSettings settings;
  settings.source = ST::CaptureSessionSourceId::StructureCore;
  settings.structureCore.visibleEnabled = true;

  sc.open(settings);

  vpImage<unsigned char> I(sc.getHeight(vpOccipitalStructure::visible), sc.getWidth(vpOccipitalStructure::visible));
#ifdef VISP_HAVE_X11
  vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
  vpDisplayGDI d(I);
#endif

  while (true) {
    sc.acquire(I);
    vpDisplay::display(I);
    vpDisplay::flush(I);
    if (vpDisplay::getClick(I, false))
      break;
  }
  return 0;
}

If you want to acquire color images, in the previous sample replace:

vpImage<unsigned char> I(sc.getHeight(vpOccipitalStructure::visible), sc.getWidth(vpOccipitalStructure::visible));

by

vpImage<vpRGBa> I(sc.getHeight(vpOccipitalStructure::visible), sc.getWidth(vpOccipitalStructure::visible));

If you are interested in the point cloud and if ViSP is build with PCL support, you can start from the following example where we use PCL library to visualize the point cloud

#include <visp3/sensor/vpOccipitalStructure.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>

int main()
{
  vpOccipitalStructure sc;
  ST::CaptureSessionSettings settings;
  settings.source = ST::CaptureSessionSourceId::StructureCore;
  settings.structureCore.visibleEnabled = true;
  settings.applyExpensiveCorrection = true; // Apply a correction and clean filter to the depth before streaming.

  sc.open(settings);
  // Calling these 2 functions to set internal variables.
  sc.getCameraParameters(vpOccipitalStructure::visible);
  sc.getCameraParameters(vpOccipitalStructure::depth);

  pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud(new pcl::PointCloud<pcl::PointXYZRGB>);

  sc.acquire(NULL, NULL, NULL, pointcloud);

  pcl::visualization::PCLVisualizer::Ptr viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
  pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(pointcloud);
  viewer->setBackgroundColor(0, 0, 0);
  viewer->initCameraParameters();
  viewer->setCameraPosition(0, 0, -0.5, 0, -1, 0);

  while (true) {
    sc.acquire(NULL, NULL, NULL, pointcloud);

    static bool update = false;
    if (!update) {
      viewer->addPointCloud<pcl::PointXYZRGB> (pointcloud, rgb, "sample cloud");
      viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
      update = true;
    } else {
      viewer->updatePointCloud<pcl::PointXYZRGB> (pointcloud, rgb, "sample cloud");
    }

    viewer->spinOnce(30);
  }
  return 0;
}

References to ST::CaptureSession and ST::CaptureSessionSettings can be retrieved with (sc.open() must be called before):

ST::CaptureSession &getCaptureSession();
ST::CaptureSessionSettings &getCaptureSessionSettings();

Examples:

testOccipitalStructure_Core_images.cpp, testOccipitalStructure_Core_imu.cpp, testOccipitalStructure_Core_pcl.cpp, tutorial-apriltag-detector-live-rgbd-structure-core.cpp, tutorial-grabber-rgbd-D435-structurecore.cpp, tutorial-grabber-structure-core.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 266 of file vpOccipitalStructure.h.

Member Enumeration Documentation

vpOccipitalStructureStream

enum vpOccipitalStructure::vpOccipitalStructureStream

Enumerator
visible	Visible stream.
depth	Depth stream.
infrared	Infrared stream.
imu	IMU stream.

Definition at line 269 of file vpOccipitalStructure.h.

Constructor & Destructor Documentation

vpOccipitalStructure()

vpOccipitalStructure::vpOccipitalStructure

(

)

Default constructor.

Definition at line 58 of file vpOccipitalStructure.cpp.

~vpOccipitalStructure()

vpOccipitalStructure::~vpOccipitalStructure

(

)

Default destructor that stops the streaming.

See also

stop()

Definition at line 67 of file vpOccipitalStructure.cpp.

References close().

Member Function Documentation

acquire() [1/7]

void vpOccipitalStructure::acquire	(	vpImage< unsigned char > &	gray,
		bool	undistorted = false,
		double *	ts = NULL
	)

Acquire greyscale image from Structure Core device.

Parameters

gray	: Greyscale image.
undistorted	: Set to true to get undistorted grayscale image.
ts	: Image timestamp or NULL if not wanted.

Examples:

testOccipitalStructure_Core_images.cpp, testOccipitalStructure_Core_pcl.cpp, tutorial-apriltag-detector-live-rgbd-structure-core.cpp, tutorial-grabber-rgbd-D435-structurecore.cpp, tutorial-grabber-structure-core.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 75 of file vpOccipitalStructure.cpp.

References vpImage< Type >::bitmap, SessionDelegate::cv_sampleLock, m_delegate, SessionDelegate::m_sampleLock, and SessionDelegate::m_visibleFrame.

acquire() [2/7]

void vpOccipitalStructure::acquire	(	vpImage< vpRGBa > &	rgb,
		bool	undistorted = false,
		double *	ts = NULL
	)

Acquire color image from Structure Core device.

Parameters

rgb	: RGB image.
undistorted	: Set to true to get undistorted image.
ts	: Image timestamp or NULL if not wanted.

Definition at line 100 of file vpOccipitalStructure.cpp.

References vpImage< Type >::bitmap, SessionDelegate::cv_sampleLock, vpImageConvert::GreyToRGBa(), SessionDelegate::m_cameraType, m_delegate, SessionDelegate::m_sampleLock, SessionDelegate::m_visibleFrame, and vpImageConvert::RGBToRGBa().

acquire() [3/7]

void vpOccipitalStructure::acquire	(	vpImage< vpRGBa > *	rgb,
		vpImage< vpRGBa > *	depth,
		vpColVector *	acceleration_data = NULL,
		vpColVector *	gyroscope_data = NULL,
		bool	undistorted = false,
		double *	ts = NULL
	)

Acquire rgb image and IMU data from Structure Core device.

Parameters

rgb	: RGB image or NULL if not wanted.
depth	: Depth image or NULL if not wanted.
acceleration_data	: Acceleration data or NULL if not wanted.
gyroscope_data	: Gyroscope data or NULL if not wanted.
undistorted	: Set to true to get undistorted image.
ts	: Image timestamp or NULL if not wanted.

Definition at line 141 of file vpOccipitalStructure.cpp.

References vpImage< Type >::bitmap, SessionDelegate::cv_sampleLock, vpImageConvert::GreyToRGBa(), SessionDelegate::m_accelerometerEvent, SessionDelegate::m_cameraType, m_delegate, SessionDelegate::m_depthFrame, SessionDelegate::m_gyroscopeEvent, SessionDelegate::m_sampleLock, SessionDelegate::m_visibleFrame, and vpImageConvert::RGBToRGBa().

acquire() [4/7]

void vpOccipitalStructure::acquire	(	vpImage< unsigned char > *	gray,
		vpImage< vpRGBa > *	depth,
		vpColVector *	acceleration_data = NULL,
		vpColVector *	gyroscope_data = NULL,
		bool	undistorted = false,
		double *	ts = NULL
	)

Acquire grayscale image, depth and IMU data from Structure Core device.

Parameters

gray	: Gray image or NULL if not wanted.
depth	: Depth image or NULL if not wanted.
acceleration_data	: Acceleration data or NULL if not wanted.
gyroscope_data	: Gyroscope data or NULL if not wanted.
undistorted	: Set to true to get undistorted image.
ts	: Image timestamp or NULL if not wanted.

Definition at line 203 of file vpOccipitalStructure.cpp.

References vpImage< Type >::bitmap, SessionDelegate::cv_sampleLock, SessionDelegate::m_accelerometerEvent, m_delegate, SessionDelegate::m_depthFrame, SessionDelegate::m_gyroscopeEvent, SessionDelegate::m_sampleLock, and SessionDelegate::m_visibleFrame.

acquire() [5/7]

void vpOccipitalStructure::acquire	(	unsigned char *const	data_image,
		unsigned char *const	data_depth,
		std::vector< vpColVector > *const	data_pointCloud = NULL,
		unsigned char *const	data_infrared = NULL,
		vpColVector *	acceleration_data = NULL,
		vpColVector *	gyroscope_data = NULL,
		bool	undistorted = true,
		double *	ts = NULL
	)

Acquire data from Structure Core device.

Parameters

data_image	: Visible image buffer or NULL if not wanted.
data_depth	: Depth image buffer in millimeters or NULL if not wanted.
data_pointCloud	: Point cloud vector pointer or NULL if not wanted.
data_infrared	: Infrared image buffer or NULL if not wanted.
acceleration_data	: Acceleration data or NULL if not wanted.
gyroscope_data	: Gyroscope data or NULL if not wanted.
undistorted	: Set to true if you want undistorted monochrome device image.
ts	: Data timestamp or NULL if not wanted.

Definition at line 253 of file vpOccipitalStructure.cpp.

References SessionDelegate::cv_sampleLock, getPointcloud(), vpImageConvert::GreyToRGBa(), SessionDelegate::m_accelerometerEvent, SessionDelegate::m_cameraType, m_delegate, SessionDelegate::m_depthFrame, SessionDelegate::m_gyroscopeEvent, SessionDelegate::m_infraredFrame, SessionDelegate::m_sampleLock, SessionDelegate::m_visibleFrame, and vpImageConvert::RGBToRGBa().

acquire() [6/7]

void vpOccipitalStructure::acquire	(	unsigned char *const	data_image,
		unsigned char *const	data_depth,
		std::vector< vpColVector > *const	data_pointCloud,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	pointcloud,
		unsigned char *const	data_infrared = NULL,
		vpColVector *	acceleration_data = NULL,
		vpColVector *	gyroscope_data = NULL,
		bool	undistorted = true,
		double *	ts = NULL
	)

Acquire data from Structure Core device.

Parameters

data_image	: Color image buffer or NULL if not wanted.
data_depth	: Depth image buffer or NULL if not wanted.
data_pointCloud	: Point cloud vector pointer or NULL if not wanted.
pointcloud	: Point cloud (in PCL format and without texture information) pointer or NULL if not wanted.
data_infrared	: Infrared image buffer or NULL if not wanted.
acceleration_data	: Acceleration data or NULL if not wanted.
gyroscope_data	: Gyroscope data or NULL if not wanted.
undistorted	: Set to true if you want undistorted monochrome device image.
ts	: Data timestamp or NULL if not wanted.

Definition at line 322 of file vpOccipitalStructure.cpp.

References SessionDelegate::cv_sampleLock, getPointcloud(), vpImageConvert::GreyToRGBa(), SessionDelegate::m_accelerometerEvent, SessionDelegate::m_cameraType, m_delegate, SessionDelegate::m_depthFrame, SessionDelegate::m_gyroscopeEvent, SessionDelegate::m_infraredFrame, SessionDelegate::m_sampleLock, SessionDelegate::m_visibleFrame, and vpImageConvert::RGBToRGBa().

acquire() [7/7]

void vpOccipitalStructure::acquire	(	unsigned char *const	data_image,
		unsigned char *const	data_depth,
		std::vector< vpColVector > *const	data_pointCloud,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	pointcloud,
		unsigned char *const	data_infrared = NULL,
		vpColVector *	acceleration_data = NULL,
		vpColVector *	gyroscope_data = NULL,
		bool	undistorted = true,
		double *	ts = NULL
	)

Acquire data from Structure Core device.

Parameters

data_image	: Color image buffer or NULL if not wanted.
data_depth	: Depth image buffer or NULL if not wanted.
data_pointCloud	: Point cloud vector pointer or NULL if not wanted.
pointcloud	: Point cloud (in PCL format) pointer or NULL if not wanted.
data_infrared	: Infrared image buffer or NULL if not wanted.
acceleration_data	: Acceleration data or NULL if not wanted.
gyroscope_data	: Gyroscope data or NULL if not wanted.
undistorted	: Set to true if you want undistorted monochrome device image.
ts	: Data timestamp or NULL if not wanted.

Definition at line 392 of file vpOccipitalStructure.cpp.

References SessionDelegate::cv_sampleLock, getColoredPointcloud(), getPointcloud(), vpImageConvert::GreyToRGBa(), SessionDelegate::m_accelerometerEvent, SessionDelegate::m_cameraType, m_delegate, SessionDelegate::m_depthFrame, SessionDelegate::m_gyroscopeEvent, SessionDelegate::m_infraredFrame, SessionDelegate::m_sampleLock, SessionDelegate::m_visibleFrame, and vpImageConvert::RGBToRGBa().

close()

void vpOccipitalStructure::close

(

)

libStructure documentation:

Unlike the start functions, this function runs synchronously and will block until the device has successfully stopped streaming. Once successful, the captureSessionEventDidOccur delegate will receive CaptureSessionEventId::Ready. If an error occurs, the captureSessionEventDidOccur delegate will receive CaptureSessionEventId::Error or the specific error case enum.

Definition at line 627 of file vpOccipitalStructure.cpp.

References m_captureSession, and m_init.

Referenced by open(), and ~vpOccipitalStructure().

getCameraParameters()

vpCameraParameters vpOccipitalStructure::getCameraParameters	(	const vpOccipitalStructureStream	stream_type,
		vpCameraParameters::vpCameraParametersProjType	proj_type = vpCameraParameters::perspectiveProjWithoutDistortion
	)

Get intrinsic parameters of input stream type.

Parameters

stream_type	: Type of stream (visible, depth).
proj_type	: Perspective projection model type; with or without distorsion.

Examples:

testOccipitalStructure_Core_pcl.cpp, tutorial-apriltag-detector-live-rgbd-structure-core.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 865 of file vpOccipitalStructure.cpp.

References m_delegate, m_depth_camera_parameters, SessionDelegate::m_depthFrame, m_visible_camera_parameters, SessionDelegate::m_visibleFrame, vpCameraParameters::perspectiveProjWithDistortion, and vpCameraParameters::perspectiveProjWithoutDistortion.

getCameraType()

ST::StructureCoreCameraType vpOccipitalStructure::getCameraType ( ) const

inline

Get camera type: Color or Monochrome.

Definition at line 314 of file vpOccipitalStructure.h.

getCaptureSession()

ST::CaptureSession& vpOccipitalStructure::getCaptureSession ( )

inline

Definition at line 318 of file vpOccipitalStructure.h.

getCaptureSessionSettings()

ST::CaptureSessionSettings& vpOccipitalStructure::getCaptureSessionSettings ( )

inline

Definition at line 319 of file vpOccipitalStructure.h.

References vpCameraParameters::perspectiveProjWithoutDistortion.

getColoredPointcloud()

void vpOccipitalStructure::getColoredPointcloud ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr &  pointcloud )

protected

Definition at line 998 of file vpOccipitalStructure.cpp.

References vpMeterPixelConversion::convertPoint(), m_delegate, SessionDelegate::m_depthFrame, m_invalidDepthValue, m_maxZ, m_visible_camera_parameters, and SessionDelegate::m_visibleFrame.

Referenced by acquire().

getDepth()

float vpOccipitalStructure::getDepth	(	int	x,
		int	y
	)

Returns depth in millimeters at (x,y) if it exists, NAN otherwise.

Parameters

x	: Pixel x-location.
y	: Pixel y-location

Definition at line 701 of file vpOccipitalStructure.cpp.

References SessionDelegate::cv_sampleLock, m_delegate, SessionDelegate::m_depthFrame, and SessionDelegate::m_sampleLock.

getHeight()

unsigned int vpOccipitalStructure::getHeight

(

vpOccipitalStructureStream

stream_type

)

Returns height of given stream image.

Parameters

stream_type

: Type of stream (visible, depth, infrared).

Examples:

testOccipitalStructure_Core_images.cpp, testOccipitalStructure_Core_pcl.cpp, tutorial-grabber-structure-core.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 670 of file vpOccipitalStructure.cpp.

References m_delegate, SessionDelegate::m_depthFrame, SessionDelegate::m_infraredFrame, and SessionDelegate::m_visibleFrame.

getIMUAcceleration()

void vpOccipitalStructure::getIMUAcceleration	(	vpColVector *	imu_acc,
		double *	ts
	)

Get linear acceleration from IMU's accelerometer.

Parameters

imu_acc	: IMU 3-dim angular velocity vector from gyro.
ts	: Timestamp.

Note

Default IMU streaming rate is 400Hz.

vpOccipitalStructure st;
ST::CaptureSessionSettings settings;
settings.source = ST::CaptureSessionSourceId::StructureCore;
settings.structureCore.depthEnabled = false;
settings.structureCore.accelerometerEnabled = true;
settings.structureCore.gyroscopeEnabled = true;
st.open(settings);

vpColVector imu_acc;
double timestamp;
st.getIMUAcceleration(&imu_acc, &timestamp);

Definition at line 513 of file vpOccipitalStructure.cpp.

References SessionDelegate::cv_sampleLock, SessionDelegate::m_accelerometerEvent, m_delegate, SessionDelegate::m_sampleLock, and vpColVector::resize().

getIMUData()

void vpOccipitalStructure::getIMUData	(	vpColVector *	imu_vel,
		vpColVector *	imu_acc,
		double *	ts = NULL
	)

Get IMU data (angular velocities and linear acceleration) from Structure Core device.

Parameters

imu_vel	: IMU 3-dim angular velocity vector from gyro.
imu_acc	: IMU 3-dim linear acceleration vector.
ts	: Timestamp.

Note

Default IMU streaming rate is 400Hz.

Be aware that IMU frame's X and Z axes are opposite to X and Z axes of pose frame.

vpOccipitalStructure st;
ST::CaptureSessionSettings settings;
settings.source = ST::CaptureSessionSourceId::StructureCore;
settings.structureCore.depthEnabled = false;
settings.structureCore.accelerometerEnabled = true;
settings.structureCore.gyroscopeEnabled = true;
st.open(settings);

vpColVector imu_acc, imu_vel;
double timestamp;
st.getIMUData(&imu_acc, &imu_vel, &timestamp);

Examples:

testOccipitalStructure_Core_imu.cpp.

Definition at line 555 of file vpOccipitalStructure.cpp.

References SessionDelegate::cv_sampleLock, SessionDelegate::m_accelerometerEvent, m_delegate, SessionDelegate::m_gyroscopeEvent, SessionDelegate::m_sampleLock, and vpColVector::resize().

getIMUVelocity()

void vpOccipitalStructure::getIMUVelocity	(	vpColVector *	imu_vel,
		double *	ts
	)

Get angular velocities from IMU's gyroscope.

Parameters

imu_vel	: IMU 3-dim angular velocity vector from gyro.
ts	: Timestamp.

Note

Default IMU streaming rate is 400Hz.

vpOccipitalStructure st;
ST::CaptureSessionSettings settings;
settings.source = ST::CaptureSessionSourceId::StructureCore;
settings.structureCore.depthEnabled = false;
settings.structureCore.accelerometerEnabled = true;
settings.structureCore.gyroscopeEnabled = true;
st.open(settings);

vpColVector imu_vel;
double timestamp;
st.getIMUVelocity(&imu_vel, &timestamp);

Definition at line 474 of file vpOccipitalStructure.cpp.

References SessionDelegate::cv_sampleLock, m_delegate, SessionDelegate::m_gyroscopeEvent, SessionDelegate::m_sampleLock, and vpColVector::resize().

getIntrinsics()

ST::Intrinsics vpOccipitalStructure::getIntrinsics

(

const vpOccipitalStructureStream

stream_type

)

const

Get intrinsic parameters corresponding to the stream. This function has to be called after open().

Parameters

stream_type

: Stream for which the camera intrinsic parameters are returned.

Definition at line 823 of file vpOccipitalStructure.cpp.

References depth, infrared, m_delegate, SessionDelegate::m_depthFrame, SessionDelegate::m_infraredFrame, SessionDelegate::m_visibleFrame, and visible.

getPointcloud() [1/2]

void vpOccipitalStructure::getPointcloud ( std::vector< vpColVector > &  pointcloud )

protected

Definition at line 896 of file vpOccipitalStructure.cpp.

References m_delegate, SessionDelegate::m_depthFrame, m_invalidDepthValue, and m_maxZ.

Referenced by acquire().

getPointcloud() [2/2]

void vpOccipitalStructure::getPointcloud ( pcl::PointCloud< pcl::PointXYZ >::Ptr &  pointcloud )

protected

Definition at line 940 of file vpOccipitalStructure.cpp.

References m_delegate, SessionDelegate::m_depthFrame, m_invalidDepthValue, and m_maxZ.

getSerialNumber()

std::string vpOccipitalStructure::getSerialNumber ( ) const

inline

Definition at line 317 of file vpOccipitalStructure.h.

getTransform()

vpHomogeneousMatrix vpOccipitalStructure::getTransform	(	const vpOccipitalStructureStream	from,
		const vpOccipitalStructureStream	to
	)

Get the extrinsic transformation from one stream to another. This function has to be called after open().

Parameters

from,to

: Streams for which the camera extrinsic parameters are returned.

Examples:

tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 743 of file vpOccipitalStructure.cpp.

References depth, imu, infrared, m_captureSession, m_delegate, SessionDelegate::m_depthFrame, and visible.

getUSBVersion()

ST::CaptureSessionUSBVersion vpOccipitalStructure::getUSBVersion ( ) const

inline

Definition at line 316 of file vpOccipitalStructure.h.

getWidth()

unsigned int vpOccipitalStructure::getWidth

(

vpOccipitalStructureStream

stream_type

)

Returns width of given stream image.

Parameters

stream_type

: Type of stream (visible, depth, infrared).

Examples:

testOccipitalStructure_Core_images.cpp, testOccipitalStructure_Core_pcl.cpp, tutorial-grabber-structure-core.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 640 of file vpOccipitalStructure.cpp.

References m_delegate, SessionDelegate::m_depthFrame, SessionDelegate::m_infraredFrame, and SessionDelegate::m_visibleFrame.

open()

bool vpOccipitalStructure::open

(

const ST::CaptureSessionSettings &

settings

)

Open access to the Structure SDK CaptureSession and starts streaming.

Parameters

settings

: CaptureSession settings.

Examples:

testOccipitalStructure_Core_images.cpp, testOccipitalStructure_Core_imu.cpp, testOccipitalStructure_Core_pcl.cpp, tutorial-apriltag-detector-live-rgbd-structure-core.cpp, tutorial-grabber-rgbd-D435-structurecore.cpp, tutorial-grabber-structure-core.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 587 of file vpOccipitalStructure.cpp.

References close(), SessionDelegate::cv_sampleLock, m_captureSession, m_captureSessionSettings, m_delegate, m_init, and SessionDelegate::m_sampleLock.

saveDepthImageAsPointCloudMesh()

void vpOccipitalStructure::saveDepthImageAsPointCloudMesh

(

std::string &

filename

)

Converts the depth frame into a 3D point cloud using intrinsic calibration then writes out the result as PLY mesh at the provided path.

Parameters

filename

: PLY file name.

Definition at line 855 of file vpOccipitalStructure.cpp.

References m_delegate, and SessionDelegate::m_depthFrame.

unprojectPoint()

vpPoint vpOccipitalStructure::unprojectPoint	(	int	row,
		int	col
	)

Returns 3D coordinates of point whose projection is at (row, col).

Parameters

row	: Pixel row.
col	: Pixel column.

Definition at line 721 of file vpOccipitalStructure.cpp.

References SessionDelegate::cv_sampleLock, m_delegate, SessionDelegate::m_depthFrame, and SessionDelegate::m_sampleLock.

Member Data Documentation

m_captureSession

ST::CaptureSession vpOccipitalStructure::m_captureSession

protected

Definition at line 343 of file vpOccipitalStructure.h.

Referenced by close(), getTransform(), and open().

m_captureSessionSettings

ST::CaptureSessionSettings vpOccipitalStructure::m_captureSessionSettings

protected

Definition at line 344 of file vpOccipitalStructure.h.

Referenced by open().

m_delegate

SessionDelegate vpOccipitalStructure::m_delegate

protected

Definition at line 345 of file vpOccipitalStructure.h.

Referenced by acquire(), getCameraParameters(), getColoredPointcloud(), getDepth(), getHeight(), getIMUAcceleration(), getIMUData(), getIMUVelocity(), getIntrinsics(), getPointcloud(), getTransform(), getWidth(), open(), saveDepthImageAsPointCloudMesh(), and unprojectPoint().

m_depth_camera_parameters

vpCameraParameters vpOccipitalStructure::m_depth_camera_parameters

protected

Definition at line 346 of file vpOccipitalStructure.h.

Referenced by getCameraParameters().

m_init

bool vpOccipitalStructure::m_init

protected

Definition at line 339 of file vpOccipitalStructure.h.

Referenced by close(), and open().

m_invalidDepthValue

float vpOccipitalStructure::m_invalidDepthValue

protected

Definition at line 340 of file vpOccipitalStructure.h.

Referenced by getColoredPointcloud(), and getPointcloud().

m_maxZ

float vpOccipitalStructure::m_maxZ

protected

Definition at line 341 of file vpOccipitalStructure.h.

Referenced by getColoredPointcloud(), and getPointcloud().

m_visible_camera_parameters

vpCameraParameters vpOccipitalStructure::m_visible_camera_parameters

protected

Definition at line 346 of file vpOccipitalStructure.h.

Referenced by getCameraParameters(), and getColoredPointcloud().