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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1hwdrivers.html">hwdrivers</a>::<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html">CSwissRanger3DCamera</a>
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<h1>mrpt::hwdrivers::CSwissRanger3DCamera Class Reference</h1><!-- doxytag: class="mrpt::hwdrivers::CSwissRanger3DCamera" --><!-- doxytag: inherits="mrpt::hwdrivers::CGenericSensor" -->
<p>A class for grabing "range images" from a MESA imaging SwissRanger 3D cameras (SR-2, SR-3000, SR-4k).
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">mrpt/hwdrivers/CSwissRanger3DCamera.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::hwdrivers::CSwissRanger3DCamera:</div>
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<div class="center"><img src="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera__inherit__graph.png" border="0" usemap="#mrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera_inherit__map" id="mrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera_inherit__map">
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Collaboration diagram for mrpt::hwdrivers::CSwissRanger3DCamera:</div>
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<div class="center"><img src="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera__coll__graph.png" border="0" usemap="#mrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera_coll__map" alt="Collaboration graph"/></div>
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<p><a href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#abd318f5b41531ffbb5bc60dd84dfab52">CSwissRanger3DCamera</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default ctor. <a href="#abd318f5b41531ffbb5bc60dd84dfab52"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#aa6642388b8160ffc4d9039a7e73f03c5">~CSwissRanger3DCamera</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default ctor. <a href="#aa6642388b8160ffc4d9039a7e73f03c5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a480bd45081d7c56bfe425acda4488a97">initialize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initializes the 3D camera - should be invoked after calling <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a6f34c5b79a128d1cb6b47eaa987ecb51" title="Loads the generic settings common to any sensor (See CGenericSensor), then call to...">loadConfig()</a> </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>This</em> </td><td>method must throw an exception with a descriptive message if some critical error is found. </td></tr>
</table>
</dd>
</dl>
<a href="#a480bd45081d7c56bfe425acda4488a97"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#aaa3c0633b24e5474f2bb8f08cdd94a9f">doProcess</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To be called at a high rate (>XX Hz), this method populates the internal buffer of received observations. <a href="#aaa3c0633b24e5474f2bb8f08cdd94a9f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a55ed7e21de3bfde339adad98b931890c">getNextObservation</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html">mrpt::slam::CObservation3DRangeScan</a> &out_obs, bool &there_is_obs, bool &hardware_error)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The main data retrieving function, to be called after calling <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a6f34c5b79a128d1cb6b47eaa987ecb51" title="Loads the generic settings common to any sensor (See CGenericSensor), then call to...">loadConfig()</a> and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a480bd45081d7c56bfe425acda4488a97" title="Initializes the 3D camera - should be invoked after calling loadConfig() method must...">initialize()</a>. <a href="#a55ed7e21de3bfde339adad98b931890c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a1e0cfdee0fe89cbefa1fc017f4a99b30">open</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">return false on error - Called automatically from <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a480bd45081d7c56bfe425acda4488a97" title="Initializes the 3D camera - should be invoked after calling loadConfig() method must...">initialize()</a>, no need normally for the user to call this. <a href="#a1e0cfdee0fe89cbefa1fc017f4a99b30"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#ada31ccefbfd4ac970fccdbca9a994079">close</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a2ec64398b16727ff669026a49fe0e2aa">isOpen</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">whether the camera is open and comms work ok. To be called after <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a480bd45081d7c56bfe425acda4488a97" title="Initializes the 3D camera - should be invoked after calling loadConfig() method must...">initialize()</a> <a href="#a2ec64398b16727ff669026a49fe0e2aa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#ac1051d0d55e65c7bd4168825eb35aab1">getRowCount</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the row count in the camera images, loaded automatically upon camera <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a1e0cfdee0fe89cbefa1fc017f4a99b30" title="return false on error - Called automatically from initialize(), no need normally...">open()</a>. <a href="#ac1051d0d55e65c7bd4168825eb35aab1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#aad326ea395f685e9a310ff75cfacf666">getColCount</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the col count in the camera images, loaded automatically upon camera <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a1e0cfdee0fe89cbefa1fc017f4a99b30" title="return false on error - Called automatically from initialize(), no need normally...">open()</a>. <a href="#aad326ea395f685e9a310ff75cfacf666"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#ad57ad09c399f8eac837c0d90b80e7d77">getCameraSerialNumber</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the camera serial number, loaded automatically upon camera <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a1e0cfdee0fe89cbefa1fc017f4a99b30" title="return false on error - Called automatically from initialize(), no need normally...">open()</a>. <a href="#ad57ad09c399f8eac837c0d90b80e7d77"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a9190a9b758961eaddc74b787cd59dbc4">getMaxRange</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the maximum camera range, as deduced from its operating frequency. <a href="#a9190a9b758961eaddc74b787cd59dbc4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a93278f25029152d570e0f60199dd4265">getMesaLibVersion</a> (std::string &out_version) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the version of the MESA library. <a href="#a93278f25029152d570e0f60199dd4265"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Capture configuration methods (apart from loadConfig)</div></td></tr>
<tr><td colspan="2"><div class="groupText"><p><a class="anchor" id="amgrp9a0c35ae838e5abcd52482dd72c65ec2"></a> </p>
</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#ad713b3d86e65da3b0db5508ad356aff5">setOpenFromUSB</a> (bool USB)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">true: open from USB, false: open from ethernet. <a href="#ad713b3d86e65da3b0db5508ad356aff5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a37d8a75ad7901d8f72adb31f72275f2d">getOpenFromUSBMode</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a7a73eee28f2db2f8113a904cf8051b2e">setSave3D</a> (bool save)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a5e3504b855a0426b26be06ee6bd8fe00">setSaveRangeImage</a> (bool save)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a173551bc0741aed90a40c66d447b5d86">setSaveIntensityImage</a> (bool save)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#ab8ca58fc1e63c104df619c92871a9070">setSaveConfidenceImage</a> (bool save)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#afeb1f66f9f9dbc2ed065f876ff75b8c9">enableImageHistEqualization</a> (bool enable)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a9629d70fef76dfbd63c36d4e654d0be8">isEnabledImageHistEqualization</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a640b961e7b3ad0a3227dcd981494795e">enableMedianFilter</a> (bool enable)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a7899c41124e309883ad60b2d4c111227">isEnabledMedianFilter</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a947add98e3739df486ddfde8fce5ef59">enableMedianCrossFilter</a> (bool enable)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#aca91a9f838913a02076c7643311ffb5b">isEnabledMedianCrossFilter</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a96a375052bb7c84a190897526e0e5354">enableConvGray</a> (bool enable)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#ac82aa9da0b23eca7bd7f394cb1823a61">isEnabledConvGray</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a774fa649e6312c4ec4cf42f34b17e888">enableDenoiseANF</a> (bool enable)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#af39adc920314640182a3ffd8fbad3d64">isEnabledDenoiseANF</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a78337342a3978b783cfc177ea731f85e">enablePreviewWindow</a> (bool enable=true)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#ad144a80927a395fd16c24e5c278ef370">isEnabledPreviewWindow</a> () const </td></tr>
<tr><td colspan="2"><h2>Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#aefc1505de8fe0ee1dacd7664995e3570">loadConfig_sensorSpecific</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &configSource, const std::string &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from...">utils::CConfigFileBase</a> and derived classes) </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>This</em> </td><td>method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value. </td></tr>
</table>
</dd>
</dl>
<a href="#aefc1505de8fe0ee1dacd7664995e3570"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a6fa67fe3f3b28314d32f83a6c38d5fa0">internal_resendParamsToCamera</a> () const </td></tr>
<tr><td colspan="2"><h2>Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#afb0e17059843df1fe9de70b68f730fae">m_sensorPoseOnRobot</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#ac24076997c06ad538c6575f0ff62cb7d">m_save_3d</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save the 3D point cloud (default: true). <a href="#ac24076997c06ad538c6575f0ff62cb7d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a08dd0db77f8a82bc2427ffb23f84f388">m_save_range_img</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save the 2D range image (default: true). <a href="#a08dd0db77f8a82bc2427ffb23f84f388"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#aaee931883288a5882c2e9027bc3d3ba9">m_save_intensity_img</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save the 2D intensity image (default: true). <a href="#aaee931883288a5882c2e9027bc3d3ba9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#aee8f4ad10f0567519fac4d4296ed2b4d">m_save_confidence</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save the estimated confidence 2D image (default: false). <a href="#aee8f4ad10f0567519fac4d4296ed2b4d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a8e2987c0c0e8e650a2a343d174ffb7d8">m_enable_img_hist_equal</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a1815e303b965adbc3d23ded5b5b3562a">m_enable_median_filter</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a3e397a7f8c48669577a2a490a72da7f0">m_enable_mediancross_filter</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#ac000992c4fba73b3cfe79e3293aac99c">m_enable_conv_gray</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a30552b6766f4b56e50bac0f200cd1098">m_enable_denoise_anf</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a02bf732f15c57df9df15cfd8f4ef49ca">m_open_from_usb</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">true: USB, false: ETH <a href="#a02bf732f15c57df9df15cfd8f4ef49ca"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a05a64bea687040241de6cea6ef2a51e0">m_usb_serial</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a68809930553ecd96e831f2dc45a57033">m_ip_address</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#aa40b9d5f0c6bc14b2b31782b51598f82">m_rows</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#ac6438b7bc755481de63cfaf55a3d1c17">m_cols</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Size of camera images, set on <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a1e0cfdee0fe89cbefa1fc017f4a99b30" title="return false on error - Called automatically from initialize(), no need normally...">open()</a>. <a href="#ac6438b7bc755481de63cfaf55a3d1c17"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#ae85e901cf919fb69981b868c469fa1aa">m_cam_serial_num</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Serial number of the camera, set on <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a1e0cfdee0fe89cbefa1fc017f4a99b30" title="return false on error - Called automatically from initialize(), no need normally...">open()</a>. <a href="#ae85e901cf919fb69981b868c469fa1aa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#aacacc472a8628318675ab81f2ba17dfd">m_maxRange</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Max range, as deducted from the camera frequency. <a href="#aacacc472a8628318675ab81f2ba17dfd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a9e8058925fc9e5947eaf5fa345f73ffa">m_preview_window</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Show preview window while grabbing. <a href="#a9e8058925fc9e5947eaf5fa345f73ffa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">mrpt::gui::CDisplayWindowPtr </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a2868b27876385ba76619f89d2cf02559">m_win2d</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a3977db3e8bca5d36f9946607fe27f486">m_sensorLabel</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#aaaeb41e269c9e63c64bb26a8c1cf8c1d">m_cam</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">opaque handler to SRCAM. NULL means it's not open yet. <a href="#aaaeb41e269c9e63c64bb26a8c1cf8c1d"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>A class for grabing "range images" from a MESA imaging SwissRanger 3D cameras (SR-2, SR-3000, SR-4k). </p>
<p>NOTES:</p>
<ul>
<li>This class requires a vendor specific driver installed in the system in order to build MRPT with support for this sensor.</li>
</ul>
<p>As with any other <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html" title="A generic interface for a wide-variety of sensors designed to be used in the application...">CGenericSensor</a> class, the normal sequence of methods to be called is:</p>
<ul>
<li><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a6f34c5b79a128d1cb6b47eaa987ecb51" title="Loads the generic settings common to any sensor (See CGenericSensor), then call to...">loadConfig()</a> - Or calls to the individual setXXX() to configure the camera parameters.</li>
<li><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a480bd45081d7c56bfe425acda4488a97" title="Initializes the 3D camera - should be invoked after calling loadConfig() method must...">initialize()</a> - to init the comms with the camera</li>
<li>call <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a55ed7e21de3bfde339adad98b931890c" title="The main data retrieving function, to be called after calling loadConfig() and initialize()...">getNextObservation()</a> for getting the frames.</li>
</ul>
<div class="fragment"><pre class="fragment"> PARAMETERS IN THE <span class="stringliteral">".INI"</span>-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
sensorLabel = CAM3D <span class="comment">// A text description</span>
preview_window = <span class="keyword">true</span> <span class="comment">// Show a window with a preview of the grabbed data in real-time</span>
open_USB = <span class="keyword">true</span> <span class="comment">// false means ethernet (default: true)</span>
USB_serial = 0x4000002f <span class="comment">// only for open_USB=true. If not set, the first camera will be open. Serial is the last part of S/N (e.g. for the camera SN: 00-00-40-00-00-2F).</span>
IP_address = 192.168.2.14 <span class="comment">// only for open_USB=false. The IP of the camera.</span>
<span class="comment">// Options for the data to save in each CObservation3DRangeScan</span>
save_3d = <span class="keyword">true</span> <span class="comment">// Save the 3D point cloud (default: true)</span>
save_range_img = <span class="keyword">true</span> <span class="comment">// Save the 2D range image (default: true)</span>
save_intensity_img = <span class="keyword">true</span> <span class="comment">// Save the 2D intensity image (default: true)</span>
save_confidence = <span class="keyword">true</span> <span class="comment">// Save the estimated confidence 2D image (default: false)</span>
enable_img_hist_equal = <span class="keyword">false</span> <span class="comment">// Enable intensity image histogram equalization (default: false)</span>
enable_median_filter = <span class="keyword">true</span> <span class="comment">// Enable median filter in range data (default: true)</span>
enable_mediancross_filter = <span class="keyword">false</span> <span class="comment">// Enable median cross-filter (default: false)</span>
enable_conv_gray = <span class="keyword">false</span> <span class="comment">// Enable intensity image scale with range (default: false)</span>
enable_denoise_anf = <span class="keyword">true</span> <span class="comment">// Enable this noise filter (default: true)</span>
pose_x=0.21 <span class="comment">// Camera position in the robot (meters)</span>
pose_y=0
pose_z=0.34
pose_yaw=0 <span class="comment">// Angles in degrees</span>
pose_pitch=0
pose_roll=0
</pre></div>
<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00084">84</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="abd318f5b41531ffbb5bc60dd84dfab52"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera" ref="abd318f5b41531ffbb5bc60dd84dfab52" args="()" -->
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<td class="memname">mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera </td>
<td>(</td>
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<td> ) </td>
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<p>Default ctor. </p>
</div>
</div>
<a class="anchor" id="aa6642388b8160ffc4d9039a7e73f03c5"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::~CSwissRanger3DCamera" ref="aa6642388b8160ffc4d9039a7e73f03c5" args="()" -->
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<td class="memname">mrpt::hwdrivers::CSwissRanger3DCamera::~CSwissRanger3DCamera </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
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<div class="memdoc">
<p>Default ctor. </p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ada31ccefbfd4ac970fccdbca9a994079"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::close" ref="ada31ccefbfd4ac970fccdbca9a994079" args="()" -->
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<td class="memname">void mrpt::hwdrivers::CSwissRanger3DCamera::close </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td></td>
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</div>
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<a class="anchor" id="aaa3c0633b24e5474f2bb8f08cdd94a9f"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::doProcess" ref="aaa3c0633b24e5474f2bb8f08cdd94a9f" args="()" -->
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<td class="memname">virtual void mrpt::hwdrivers::CSwissRanger3DCamera::doProcess </td>
<td>(</td>
<td class="paramname"></td>
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<td><code> [virtual]</code></td>
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<p>To be called at a high rate (>XX Hz), this method populates the internal buffer of received observations. </p>
<p>This method is mainly intended for usage within rawlog-grabber or similar programs. For an alternative, see <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a55ed7e21de3bfde339adad98b931890c" title="The main data retrieving function, to be called after calling loadConfig() and initialize()...">getNextObservation()</a> </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>This</em> </td><td>method must throw an exception with a descriptive message if some critical error is found. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a55ed7e21de3bfde339adad98b931890c" title="The main data retrieving function, to be called after calling loadConfig() and initialize()...">getNextObservation</a> </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a4f02ae5d7a345819f2521f72b633ab51">mrpt::hwdrivers::CGenericSensor</a>.</p>
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<a class="anchor" id="a96a375052bb7c84a190897526e0e5354"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::enableConvGray" ref="a96a375052bb7c84a190897526e0e5354" args="(bool enable)" -->
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<td class="memname">void mrpt::hwdrivers::CSwissRanger3DCamera::enableConvGray </td>
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<td> ) </td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00153">153</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a774fa649e6312c4ec4cf42f34b17e888"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::enableDenoiseANF" ref="a774fa649e6312c4ec4cf42f34b17e888" args="(bool enable)" -->
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<td class="memname">void mrpt::hwdrivers::CSwissRanger3DCamera::enableDenoiseANF </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>enable</em></td>
<td> ) </td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00156">156</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="afeb1f66f9f9dbc2ed065f876ff75b8c9"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::enableImageHistEqualization" ref="afeb1f66f9f9dbc2ed065f876ff75b8c9" args="(bool enable)" -->
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<td class="memname">void mrpt::hwdrivers::CSwissRanger3DCamera::enableImageHistEqualization </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>enable</em></td>
<td> ) </td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00144">144</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a947add98e3739df486ddfde8fce5ef59"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::enableMedianCrossFilter" ref="a947add98e3739df486ddfde8fce5ef59" args="(bool enable)" -->
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<td class="memname">void mrpt::hwdrivers::CSwissRanger3DCamera::enableMedianCrossFilter </td>
<td>(</td>
<td class="paramtype">bool </td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00150">150</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a640b961e7b3ad0a3227dcd981494795e"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::enableMedianFilter" ref="a640b961e7b3ad0a3227dcd981494795e" args="(bool enable)" -->
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<td class="memname">void mrpt::hwdrivers::CSwissRanger3DCamera::enableMedianFilter </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>enable</em></td>
<td> ) </td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00147">147</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a78337342a3978b783cfc177ea731f85e"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::enablePreviewWindow" ref="a78337342a3978b783cfc177ea731f85e" args="(bool enable=true)" -->
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<td class="memname">void mrpt::hwdrivers::CSwissRanger3DCamera::enablePreviewWindow </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>enable</em> = <code>true</code></td>
<td> ) </td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00159">159</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="ad57ad09c399f8eac837c0d90b80e7d77"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::getCameraSerialNumber" ref="ad57ad09c399f8eac837c0d90b80e7d77" args="() const " -->
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<td class="memname">unsigned int mrpt::hwdrivers::CSwissRanger3DCamera::getCameraSerialNumber </td>
<td>(</td>
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<td> ) </td>
<td> const<code> [inline]</code></td>
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<p>Get the camera serial number, loaded automatically upon camera <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a1e0cfdee0fe89cbefa1fc017f4a99b30" title="return false on error - Called automatically from initialize(), no need normally...">open()</a>. </p>
<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00126">126</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="aad326ea395f685e9a310ff75cfacf666"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::getColCount" ref="aad326ea395f685e9a310ff75cfacf666" args="() const " -->
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<td class="memname">size_t mrpt::hwdrivers::CSwissRanger3DCamera::getColCount </td>
<td>(</td>
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<td> ) </td>
<td> const<code> [inline]</code></td>
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<p>Get the col count in the camera images, loaded automatically upon camera <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a1e0cfdee0fe89cbefa1fc017f4a99b30" title="return false on error - Called automatically from initialize(), no need normally...">open()</a>. </p>
<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00123">123</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a9190a9b758961eaddc74b787cd59dbc4"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::getMaxRange" ref="a9190a9b758961eaddc74b787cd59dbc4" args="() const " -->
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<td class="memname">double mrpt::hwdrivers::CSwissRanger3DCamera::getMaxRange </td>
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<td> const<code> [inline]</code></td>
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<p>Returns the maximum camera range, as deduced from its operating frequency. </p>
<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00129">129</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a93278f25029152d570e0f60199dd4265"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::getMesaLibVersion" ref="a93278f25029152d570e0f60199dd4265" args="(std::string &out_version) const " -->
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<td class="paramname"> <em>out_version</em></td>
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<td> const</td>
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<p>Get the version of the MESA library. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>false on error </dd></dl>
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<a class="anchor" id="a55ed7e21de3bfde339adad98b931890c"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation" ref="a55ed7e21de3bfde339adad98b931890c" args="(mrpt::slam::CObservation3DRangeScan &out_obs, bool &there_is_obs, bool &hardware_error)" -->
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<td class="memname">void mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html">mrpt::slam::CObservation3DRangeScan</a> & </td>
<td class="paramname"> <em>out_obs</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool & </td>
<td class="paramname"> <em>there_is_obs</em>, </td>
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<p>The main data retrieving function, to be called after calling <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a6f34c5b79a128d1cb6b47eaa987ecb51" title="Loads the generic settings common to any sensor (See CGenericSensor), then call to...">loadConfig()</a> and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a480bd45081d7c56bfe425acda4488a97" title="Initializes the 3D camera - should be invoked after calling loadConfig() method must...">initialize()</a>. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>out_obs</em> </td><td>The output retrieved observation (only if there_is_obs=true). </td></tr>
<tr><td valign="top"></td><td valign="top"><em>there_is_obs</em> </td><td>If set to false, there was no new observation. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>hardware_error</em> </td><td>True on hardware/comms error.</td></tr>
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</dd>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#aaa3c0633b24e5474f2bb8f08cdd94a9f" title="To be called at a high rate (>XX Hz), this method populates the internal buffer...">doProcess</a> </dd></dl>
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<a class="anchor" id="a37d8a75ad7901d8f72adb31f72275f2d"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::getOpenFromUSBMode" ref="a37d8a75ad7901d8f72adb31f72275f2d" args="() const " -->
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<td class="memname">bool mrpt::hwdrivers::CSwissRanger3DCamera::getOpenFromUSBMode </td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00137">137</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="ac1051d0d55e65c7bd4168825eb35aab1"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::getRowCount" ref="ac1051d0d55e65c7bd4168825eb35aab1" args="() const " -->
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<td class="memname">size_t mrpt::hwdrivers::CSwissRanger3DCamera::getRowCount </td>
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<td> const<code> [inline]</code></td>
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<p>Get the row count in the camera images, loaded automatically upon camera <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a1e0cfdee0fe89cbefa1fc017f4a99b30" title="return false on error - Called automatically from initialize(), no need normally...">open()</a>. </p>
<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00121">121</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a480bd45081d7c56bfe425acda4488a97"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::initialize" ref="a480bd45081d7c56bfe425acda4488a97" args="()" -->
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<td class="memname">virtual void mrpt::hwdrivers::CSwissRanger3DCamera::initialize </td>
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<td><code> [virtual]</code></td>
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<p>Initializes the 3D camera - should be invoked after calling <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a6f34c5b79a128d1cb6b47eaa987ecb51" title="Loads the generic settings common to any sensor (See CGenericSensor), then call to...">loadConfig()</a> </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>This</em> </td><td>method must throw an exception with a descriptive message if some critical error is found. </td></tr>
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</dd>
</dl>
</p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a775782a8fef4c5cd11265024431ed8c3">mrpt::hwdrivers::CGenericSensor</a>.</p>
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<a class="anchor" id="a6fa67fe3f3b28314d32f83a6c38d5fa0"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::internal_resendParamsToCamera" ref="a6fa67fe3f3b28314d32f83a6c38d5fa0" args="() const " -->
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<td class="memname">void mrpt::hwdrivers::CSwissRanger3DCamera::internal_resendParamsToCamera </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td> const<code> [protected]</code></td>
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<a class="anchor" id="ac82aa9da0b23eca7bd7f394cb1823a61"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledConvGray" ref="ac82aa9da0b23eca7bd7f394cb1823a61" args="() const " -->
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<td class="memname">bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledConvGray </td>
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<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00154">154</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="af39adc920314640182a3ffd8fbad3d64"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledDenoiseANF" ref="af39adc920314640182a3ffd8fbad3d64" args="() const " -->
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00157">157</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a9629d70fef76dfbd63c36d4e654d0be8"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledImageHistEqualization" ref="a9629d70fef76dfbd63c36d4e654d0be8" args="() const " -->
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<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00145">145</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="aca91a9f838913a02076c7643311ffb5b"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledMedianCrossFilter" ref="aca91a9f838913a02076c7643311ffb5b" args="() const " -->
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00151">151</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a7899c41124e309883ad60b2d4c111227"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledMedianFilter" ref="a7899c41124e309883ad60b2d4c111227" args="() const " -->
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<td class="memname">bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledMedianFilter </td>
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<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00148">148</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="ad144a80927a395fd16c24e5c278ef370"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledPreviewWindow" ref="ad144a80927a395fd16c24e5c278ef370" args="() const " -->
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<td> ) </td>
<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00160">160</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a2ec64398b16727ff669026a49fe0e2aa"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::isOpen" ref="a2ec64398b16727ff669026a49fe0e2aa" args="() const " -->
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<td class="memname">bool mrpt::hwdrivers::CSwissRanger3DCamera::isOpen </td>
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<td> ) </td>
<td> const</td>
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<p>whether the camera is open and comms work ok. To be called after <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a480bd45081d7c56bfe425acda4488a97" title="Initializes the 3D camera - should be invoked after calling loadConfig() method must...">initialize()</a> </p>
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<a class="anchor" id="aefc1505de8fe0ee1dacd7664995e3570"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific" ref="aefc1505de8fe0ee1dacd7664995e3570" args="(const mrpt::utils::CConfigFileBase &configSource, const std::string &section)" -->
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<td class="memname">virtual void mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
<td class="paramname"> <em>configSource</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const std::string & </td>
<td class="paramname"> <em>section</em></td><td> </td>
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<td>)</td>
<td></td><td></td><td><code> [protected, virtual]</code></td>
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<p>Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from...">utils::CConfigFileBase</a> and derived classes) </p>
<dl><dt><b>Exceptions:</b></dt><dd>
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<tr><td valign="top"></td><td valign="top"><em>This</em> </td><td>method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value. </td></tr>
</table>
</dd>
</dl>
</p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ac867f9cb46c72b4386a5488f171f178f">mrpt::hwdrivers::CGenericSensor</a>.</p>
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<a class="anchor" id="a1e0cfdee0fe89cbefa1fc017f4a99b30"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::open" ref="a1e0cfdee0fe89cbefa1fc017f4a99b30" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CSwissRanger3DCamera::open </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
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<p>return false on error - Called automatically from <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a480bd45081d7c56bfe425acda4488a97" title="Initializes the 3D camera - should be invoked after calling loadConfig() method must...">initialize()</a>, no need normally for the user to call this. </p>
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<a class="anchor" id="ad713b3d86e65da3b0db5508ad356aff5"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::setOpenFromUSB" ref="ad713b3d86e65da3b0db5508ad356aff5" args="(bool USB)" -->
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<td class="memname">void mrpt::hwdrivers::CSwissRanger3DCamera::setOpenFromUSB </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>USB</em></td>
<td> ) </td>
<td><code> [inline]</code></td>
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<p>true: open from USB, false: open from ethernet. </p>
<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00136">136</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a7a73eee28f2db2f8113a904cf8051b2e"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::setSave3D" ref="a7a73eee28f2db2f8113a904cf8051b2e" args="(bool save)" -->
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<td class="memname">void mrpt::hwdrivers::CSwissRanger3DCamera::setSave3D </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>save</em></td>
<td> ) </td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00139">139</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="ab8ca58fc1e63c104df619c92871a9070"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::setSaveConfidenceImage" ref="ab8ca58fc1e63c104df619c92871a9070" args="(bool save)" -->
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<td class="memname">void mrpt::hwdrivers::CSwissRanger3DCamera::setSaveConfidenceImage </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>save</em></td>
<td> ) </td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00142">142</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a173551bc0741aed90a40c66d447b5d86"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::setSaveIntensityImage" ref="a173551bc0741aed90a40c66d447b5d86" args="(bool save)" -->
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<td class="memname">void mrpt::hwdrivers::CSwissRanger3DCamera::setSaveIntensityImage </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>save</em></td>
<td> ) </td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00141">141</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a5e3504b855a0426b26be06ee6bd8fe00"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::setSaveRangeImage" ref="a5e3504b855a0426b26be06ee6bd8fe00" args="(bool save)" -->
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<td class="memname">void mrpt::hwdrivers::CSwissRanger3DCamera::setSaveRangeImage </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>save</em></td>
<td> ) </td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00140">140</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="aaaeb41e269c9e63c64bb26a8c1cf8c1d"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_cam" ref="aaaeb41e269c9e63c64bb26a8c1cf8c1d" args="" -->
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<td class="memname">void* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#aaaeb41e269c9e63c64bb26a8c1cf8c1d">mrpt::hwdrivers::CSwissRanger3DCamera::m_cam</a><code> [protected]</code></td>
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<p>opaque handler to SRCAM. NULL means it's not open yet. </p>
<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00210">210</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="ae85e901cf919fb69981b868c469fa1aa"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_cam_serial_num" ref="ae85e901cf919fb69981b868c469fa1aa" args="" -->
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<td class="memname">unsigned int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#ae85e901cf919fb69981b868c469fa1aa">mrpt::hwdrivers::CSwissRanger3DCamera::m_cam_serial_num</a><code> [protected]</code></td>
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<p>Serial number of the camera, set on <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a1e0cfdee0fe89cbefa1fc017f4a99b30" title="return false on error - Called automatically from initialize(), no need normally...">open()</a>. </p>
<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00202">202</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="ac6438b7bc755481de63cfaf55a3d1c17"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_cols" ref="ac6438b7bc755481de63cfaf55a3d1c17" args="" -->
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<td class="memname">size_t <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#ac6438b7bc755481de63cfaf55a3d1c17">mrpt::hwdrivers::CSwissRanger3DCamera::m_cols</a><code> [protected]</code></td>
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<p>Size of camera images, set on <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a1e0cfdee0fe89cbefa1fc017f4a99b30" title="return false on error - Called automatically from initialize(), no need normally...">open()</a>. </p>
<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00201">201</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="ac000992c4fba73b3cfe79e3293aac99c"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_conv_gray" ref="ac000992c4fba73b3cfe79e3293aac99c" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#ac000992c4fba73b3cfe79e3293aac99c">mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_conv_gray</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00193">193</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a30552b6766f4b56e50bac0f200cd1098"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_denoise_anf" ref="a30552b6766f4b56e50bac0f200cd1098" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a30552b6766f4b56e50bac0f200cd1098">mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_denoise_anf</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00194">194</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a8e2987c0c0e8e650a2a343d174ffb7d8"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_img_hist_equal" ref="a8e2987c0c0e8e650a2a343d174ffb7d8" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a8e2987c0c0e8e650a2a343d174ffb7d8">mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_img_hist_equal</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00190">190</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a1815e303b965adbc3d23ded5b5b3562a"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_median_filter" ref="a1815e303b965adbc3d23ded5b5b3562a" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a1815e303b965adbc3d23ded5b5b3562a">mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_median_filter</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00191">191</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a3e397a7f8c48669577a2a490a72da7f0"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_mediancross_filter" ref="a3e397a7f8c48669577a2a490a72da7f0" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a3e397a7f8c48669577a2a490a72da7f0">mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_mediancross_filter</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00192">192</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a68809930553ecd96e831f2dc45a57033"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_ip_address" ref="a68809930553ecd96e831f2dc45a57033" args="" -->
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<td class="memname">std::string <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a68809930553ecd96e831f2dc45a57033">mrpt::hwdrivers::CSwissRanger3DCamera::m_ip_address</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00199">199</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="aacacc472a8628318675ab81f2ba17dfd"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_maxRange" ref="aacacc472a8628318675ab81f2ba17dfd" args="" -->
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<td class="memname">double <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#aacacc472a8628318675ab81f2ba17dfd">mrpt::hwdrivers::CSwissRanger3DCamera::m_maxRange</a><code> [protected]</code></td>
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<p>Max range, as deducted from the camera frequency. </p>
<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00203">203</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a02bf732f15c57df9df15cfd8f4ef49ca"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_open_from_usb" ref="a02bf732f15c57df9df15cfd8f4ef49ca" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a02bf732f15c57df9df15cfd8f4ef49ca">mrpt::hwdrivers::CSwissRanger3DCamera::m_open_from_usb</a><code> [protected]</code></td>
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<p>true: USB, false: ETH </p>
<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00197">197</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a9e8058925fc9e5947eaf5fa345f73ffa"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_preview_window" ref="a9e8058925fc9e5947eaf5fa345f73ffa" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a9e8058925fc9e5947eaf5fa345f73ffa">mrpt::hwdrivers::CSwissRanger3DCamera::m_preview_window</a><code> [protected]</code></td>
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<p>Show preview window while grabbing. </p>
<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00205">205</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="aa40b9d5f0c6bc14b2b31782b51598f82"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_rows" ref="aa40b9d5f0c6bc14b2b31782b51598f82" args="" -->
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<td class="memname">size_t <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#aa40b9d5f0c6bc14b2b31782b51598f82">mrpt::hwdrivers::CSwissRanger3DCamera::m_rows</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00201">201</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="ac24076997c06ad538c6575f0ff62cb7d"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_save_3d" ref="ac24076997c06ad538c6575f0ff62cb7d" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#ac24076997c06ad538c6575f0ff62cb7d">mrpt::hwdrivers::CSwissRanger3DCamera::m_save_3d</a><code> [protected]</code></td>
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<p>Save the 3D point cloud (default: true). </p>
<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00185">185</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="aee8f4ad10f0567519fac4d4296ed2b4d"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_save_confidence" ref="aee8f4ad10f0567519fac4d4296ed2b4d" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#aee8f4ad10f0567519fac4d4296ed2b4d">mrpt::hwdrivers::CSwissRanger3DCamera::m_save_confidence</a><code> [protected]</code></td>
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<p>Save the estimated confidence 2D image (default: false). </p>
<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00188">188</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="aaee931883288a5882c2e9027bc3d3ba9"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_save_intensity_img" ref="aaee931883288a5882c2e9027bc3d3ba9" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#aaee931883288a5882c2e9027bc3d3ba9">mrpt::hwdrivers::CSwissRanger3DCamera::m_save_intensity_img</a><code> [protected]</code></td>
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<p>Save the 2D intensity image (default: true). </p>
<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00187">187</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a08dd0db77f8a82bc2427ffb23f84f388"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_save_range_img" ref="a08dd0db77f8a82bc2427ffb23f84f388" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a08dd0db77f8a82bc2427ffb23f84f388">mrpt::hwdrivers::CSwissRanger3DCamera::m_save_range_img</a><code> [protected]</code></td>
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<p>Save the 2D range image (default: true). </p>
<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00186">186</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a3977db3e8bca5d36f9946607fe27f486"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_sensorLabel" ref="a3977db3e8bca5d36f9946607fe27f486" args="" -->
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<td class="memname">std::string <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a3977db3e8bca5d36f9946607fe27f486">mrpt::hwdrivers::CSwissRanger3DCamera::m_sensorLabel</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00208">208</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="afb0e17059843df1fe9de70b68f730fae"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_sensorPoseOnRobot" ref="afb0e17059843df1fe9de70b68f730fae" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#afb0e17059843df1fe9de70b68f730fae">mrpt::hwdrivers::CSwissRanger3DCamera::m_sensorPoseOnRobot</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00183">183</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a05a64bea687040241de6cea6ef2a51e0"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_usb_serial" ref="a05a64bea687040241de6cea6ef2a51e0" args="" -->
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<td class="memname">size_t <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a05a64bea687040241de6cea6ef2a51e0">mrpt::hwdrivers::CSwissRanger3DCamera::m_usb_serial</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00198">198</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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<a class="anchor" id="a2868b27876385ba76619f89d2cf02559"></a><!-- doxytag: member="mrpt::hwdrivers::CSwissRanger3DCamera::m_win2d" ref="a2868b27876385ba76619f89d2cf02559" args="" -->
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<td class="memname">mrpt::gui::CDisplayWindowPtr <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a2868b27876385ba76619f89d2cf02559">mrpt::hwdrivers::CSwissRanger3DCamera::m_win2d</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html#l00206">206</a> of file <a class="el" href="_c_swiss_ranger3_d_camera_8h_source.html">CSwissRanger3DCamera.h</a>.</p>
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