Point Cloud Library (PCL)
1.7.0
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Class representing an astract device for OpenNI devices: Primesense PSDK, Microsoft Kinect, Asus Xtion Pro/Live. More...
#include <pcl/io/openni_camera/openni_device.h>
Classes | |
struct | ShiftConversion |
Public Types | |
enum | DepthMode { OpenNI_shift_values = 0, OpenNI_12_bit_depth = 1 } |
typedef boost::function< void(boost::shared_ptr < Image >, void *cookie) | ImageCallbackFunction ) |
typedef boost::function< void(boost::shared_ptr < DepthImage >, void *cookie) | DepthImageCallbackFunction ) |
typedef boost::function< void(boost::shared_ptr < IRImage >, void *cookie) | IRImageCallbackFunction ) |
typedef unsigned | CallbackHandle |
Public Member Functions | |
virtual | ~OpenNIDevice () throw () |
virtual destructor. | |
bool | findCompatibleImageMode (const XnMapOutputMode &output_mode, XnMapOutputMode &mode) const throw () |
finds an image output mode that can be used to retrieve images in desired output mode. | |
bool | findCompatibleDepthMode (const XnMapOutputMode &output_mode, XnMapOutputMode &mode) const throw () |
finds a depth output mode that can be used to retrieve depth images in desired output mode. | |
bool | isImageModeSupported (const XnMapOutputMode &output_mode) const throw () |
returns whether a given mode is natively supported by the device or not | |
bool | isDepthModeSupported (const XnMapOutputMode &output_mode) const throw () |
returns whether a given mode is natively supported by the device or not | |
const XnMapOutputMode & | getDefaultImageMode () const throw () |
returns the default image mode, which is simply the first entry in the list of modes | |
const XnMapOutputMode & | getDefaultDepthMode () const throw () |
returns the default depth mode, which is simply the first entry in the list of modes | |
const XnMapOutputMode & | getDefaultIRMode () const throw () |
returns the default IR mode, which is simply the first entry in the list of modes | |
void | setImageOutputMode (const XnMapOutputMode &output_mode) |
sets the output mode of the image stream | |
void | setDepthOutputMode (const XnMapOutputMode &output_mode) |
sets the output mode of the depth stream | |
void | setIROutputMode (const XnMapOutputMode &output_mode) |
sets the output mode of the IR stream | |
XnMapOutputMode | getImageOutputMode () const |
XnMapOutputMode | getDepthOutputMode () const |
XnMapOutputMode | getIROutputMode () const |
void | setDepthRegistration (bool on_off) |
set the depth stream registration on or off | |
bool | isDepthRegistered () const throw () |
bool | isDepthRegistrationSupported () const throw () |
void | setSynchronization (bool on_off) |
set the hardware synchronization between Depth and RGB stream on or off. | |
bool | isSynchronized () const throw () |
virtual bool | isSynchronizationSupported () const throw () |
bool | isDepthCropped () const |
void | setDepthCropping (unsigned x, unsigned y, unsigned width, unsigned height) |
turn on cropping for the depth stream. | |
bool | isDepthCroppingSupported () const throw () |
float | getImageFocalLength (int output_x_resolution=0) const throw () |
returns the focal length for the color camera in pixels. | |
float | getDepthFocalLength (int output_x_resolution=0) const throw () |
returns the focal length for the IR camera in pixels. | |
float | getBaseline () const throw () |
virtual void | startImageStream () |
starts the image stream. | |
virtual void | stopImageStream () |
stops the image stream. | |
virtual void | startDepthStream () |
starts the depth stream. | |
virtual void | stopDepthStream () |
stops the depth stream. | |
virtual void | startIRStream () |
starts the IR stream. | |
virtual void | stopIRStream () |
stops the IR stream. | |
bool | hasImageStream () const throw () |
bool | hasDepthStream () const throw () |
bool | hasIRStream () const throw () |
virtual bool | isImageStreamRunning () const throw () |
virtual bool | isDepthStreamRunning () const throw () |
virtual bool | isIRStreamRunning () const throw () |
CallbackHandle | registerImageCallback (const ImageCallbackFunction &callback, void *cookie=NULL) throw () |
registers a callback function of boost::function type for the image stream with an optional user defined parameter. | |
template<typename T > | |
CallbackHandle | registerImageCallback (void(T::*callback)(boost::shared_ptr< Image >, void *cookie), T &instance, void *cookie=NULL) throw () |
registers a callback function for the image stream with an optional user defined parameter. | |
bool | unregisterImageCallback (const CallbackHandle &callbackHandle) throw () |
unregisters a callback function. | |
CallbackHandle | registerDepthCallback (const DepthImageCallbackFunction &callback, void *cookie=NULL) throw () |
registers a callback function of boost::function type for the depth stream with an optional user defined parameter. | |
template<typename T > | |
CallbackHandle | registerDepthCallback (void(T::*callback)(boost::shared_ptr< DepthImage >, void *cookie), T &instance, void *cookie=NULL) throw () |
registers a callback function for the depth stream with an optional user defined parameter. | |
bool | unregisterDepthCallback (const CallbackHandle &callbackHandle) throw () |
unregisters a callback function. | |
CallbackHandle | registerIRCallback (const IRImageCallbackFunction &callback, void *cookie=NULL) throw () |
registers a callback function of boost::function type for the IR stream with an optional user defined parameter. | |
template<typename T > | |
CallbackHandle | registerIRCallback (void(T::*callback)(boost::shared_ptr< IRImage >, void *cookie), T &instance, void *cookie=NULL) throw () |
registers a callback function for the IR stream with an optional user defined parameter. | |
bool | unregisterIRCallback (const CallbackHandle &callbackHandle) throw () |
unregisters a callback function. | |
const char * | getSerialNumber () const throw () |
returns the serial number for device. | |
const char * | getConnectionString () const throw () |
returns the connection string for current device, which has following format vendorID/productID@BusID/DeviceID. | |
const char * | getVendorName () const throw () |
const char * | getProductName () const throw () |
unsigned short | getVendorID () const throw () |
unsigned short | getProductID () const throw () |
unsigned char | getBus () const throw () |
unsigned char | getAddress () const throw () |
void | setRGBFocalLength (float focal_length) |
Set the RGB image focal length. | |
void | setDepthFocalLength (float focal_length) |
Set the depth image focal length. | |
void | setDepthOutputFormat (const DepthMode &depth_mode=OpenNI_12_bit_depth) |
Set the depth output format. | |
XnUInt64 | getDepthOutputFormat () const |
Get the depth output format as set by the user. | |
pcl::uint16_t | shiftToDepth (pcl::uint16_t shift_value) const |
Convert shift to depth value. | |
Protected Types | |
typedef boost::function< void(boost::shared_ptr < Image >) > | ActualImageCallbackFunction |
typedef boost::function< void(boost::shared_ptr < DepthImage >) > | ActualDepthImageCallbackFunction |
typedef boost::function< void(boost::shared_ptr < IRImage >) > | ActualIRImageCallbackFunction |
Protected Member Functions | |
OpenNIDevice (xn::Context &context, const xn::NodeInfo &device_node, const xn::NodeInfo &image_node, const xn::NodeInfo &depth_node, const xn::NodeInfo &ir_node) | |
OpenNIDevice (xn::Context &context, const xn::NodeInfo &device_node, const xn::NodeInfo &depth_node, const xn::NodeInfo &ir_node) | |
OpenNIDevice (xn::Context &context) | |
void | ImageDataThreadFunction () |
void | DepthDataThreadFunction () |
void | IRDataThreadFunction () |
virtual bool | isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const =0 throw () |
void | setRegistration (bool on_off) |
virtual boost::shared_ptr< Image > | getCurrentImage (boost::shared_ptr< xn::ImageMetaData > image_data) const =0 throw () |
void | Init () |
void | InitShiftToDepthConversion () |
void | ReadDeviceParametersFromSensorNode () |
Static Protected Member Functions | |
static void __stdcall | NewDepthDataAvailable (xn::ProductionNode &node, void *cookie) throw () |
static void __stdcall | NewImageDataAvailable (xn::ProductionNode &node, void *cookie) throw () |
static void __stdcall | NewIRDataAvailable (xn::ProductionNode &node, void *cookie) throw () |
Protected Attributes | |
struct openni_wrapper::OpenNIDevice::ShiftConversion | shift_conversion_parameters_ |
std::vector< pcl::uint16_t > | shift_to_depth_table_ |
std::map< CallbackHandle, ActualImageCallbackFunction > | image_callback_ |
std::map< CallbackHandle, ActualDepthImageCallbackFunction > | depth_callback_ |
std::map< CallbackHandle, ActualIRImageCallbackFunction > | ir_callback_ |
std::vector< XnMapOutputMode > | available_image_modes_ |
std::vector< XnMapOutputMode > | available_depth_modes_ |
xn::Context & | context_ |
context to OpenNI driver | |
xn::NodeInfo | device_node_info_ |
node object for current device | |
xn::DepthGenerator | depth_generator_ |
Depth generator object. | |
xn::ImageGenerator | image_generator_ |
Image generator object. | |
xn::IRGenerator | ir_generator_ |
IR generator object. | |
XnCallbackHandle | depth_callback_handle_ |
XnCallbackHandle | image_callback_handle_ |
XnCallbackHandle | ir_callback_handle_ |
float | depth_focal_length_SXGA_ |
focal length for IR camera producing depth information in native SXGA mode | |
float | baseline_ |
distance between the projector and the IR camera | |
float | rgb_focal_length_SXGA_ |
focal length for regular camera producing color images in native SXGA mode | |
XnUInt64 | shadow_value_ |
the value for shadow (occluded pixels) | |
XnUInt64 | no_sample_value_ |
the value for pixels without a valid disparity measurement | |
OpenNIDevice::CallbackHandle | image_callback_handle_counter_ |
OpenNIDevice::CallbackHandle | depth_callback_handle_counter_ |
OpenNIDevice::CallbackHandle | ir_callback_handle_counter_ |
bool | quit_ |
boost::mutex | image_mutex_ |
boost::mutex | depth_mutex_ |
boost::mutex | ir_mutex_ |
boost::condition_variable | image_condition_ |
boost::condition_variable | depth_condition_ |
boost::condition_variable | ir_condition_ |
boost::thread | image_thread_ |
boost::thread | depth_thread_ |
boost::thread | ir_thread_ |
Class representing an astract device for OpenNI devices: Primesense PSDK, Microsoft Kinect, Asus Xtion Pro/Live.
Definition at line 69 of file openni_device.h.
typedef boost::function<void(boost::shared_ptr<DepthImage>) > openni_wrapper::OpenNIDevice::ActualDepthImageCallbackFunction [protected] |
Definition at line 442 of file openni_device.h.
typedef boost::function<void(boost::shared_ptr<Image>) > openni_wrapper::OpenNIDevice::ActualImageCallbackFunction [protected] |
Definition at line 441 of file openni_device.h.
typedef boost::function<void(boost::shared_ptr<IRImage>) > openni_wrapper::OpenNIDevice::ActualIRImageCallbackFunction [protected] |
Definition at line 443 of file openni_device.h.
typedef unsigned openni_wrapper::OpenNIDevice::CallbackHandle |
Definition at line 81 of file openni_device.h.
typedef boost::function<void(boost::shared_ptr<DepthImage>, void* cookie) openni_wrapper::OpenNIDevice::DepthImageCallbackFunction) |
Definition at line 79 of file openni_device.h.
typedef boost::function<void(boost::shared_ptr<Image>, void* cookie) openni_wrapper::OpenNIDevice::ImageCallbackFunction) |
Definition at line 78 of file openni_device.h.
typedef boost::function<void(boost::shared_ptr<IRImage>, void* cookie) openni_wrapper::OpenNIDevice::IRImageCallbackFunction) |
Definition at line 80 of file openni_device.h.
Definition at line 72 of file openni_device.h.
virtual openni_wrapper::OpenNIDevice::~OpenNIDevice | ( | ) | throw () [virtual] |
virtual destructor.
Never throws an exception.
openni_wrapper::OpenNIDevice::OpenNIDevice | ( | xn::Context & | context, |
const xn::NodeInfo & | device_node, | ||
const xn::NodeInfo & | image_node, | ||
const xn::NodeInfo & | depth_node, | ||
const xn::NodeInfo & | ir_node | ||
) | [protected] |
openni_wrapper::OpenNIDevice::OpenNIDevice | ( | xn::Context & | context, |
const xn::NodeInfo & | device_node, | ||
const xn::NodeInfo & | depth_node, | ||
const xn::NodeInfo & | ir_node | ||
) | [protected] |
openni_wrapper::OpenNIDevice::OpenNIDevice | ( | xn::Context & | context | ) | [protected] |
void openni_wrapper::OpenNIDevice::DepthDataThreadFunction | ( | ) | [protected] |
bool openni_wrapper::OpenNIDevice::findCompatibleDepthMode | ( | const XnMapOutputMode & | output_mode, |
XnMapOutputMode & | mode | ||
) | const throw () |
finds a depth output mode that can be used to retrieve depth images in desired output mode.
e.g If device just supports VGA at 30Hz, then a desired mode of QVGA at 30Hz would be possbile by downsampling, but the modes VGA at 25Hz and SXGA at 30Hz would not be compatible.
[in] | output_mode | the desired output mode |
[out] | mode | the compatible mode that the device natively supports. |
bool openni_wrapper::OpenNIDevice::findCompatibleImageMode | ( | const XnMapOutputMode & | output_mode, |
XnMapOutputMode & | mode | ||
) | const throw () |
finds an image output mode that can be used to retrieve images in desired output mode.
e.g If device just supports VGA at 30Hz, then the desired mode QVGA at 30Hz would be possible by down sampling, but the modes VGA at 25Hz and SXGA at 30Hz would not be compatible.
[in] | output_mode | the desired output mode |
[out] | mode | the compatible mode that the device natively supports. |
unsigned char openni_wrapper::OpenNIDevice::getAddress | ( | ) | const throw () |
float openni_wrapper::OpenNIDevice::getBaseline | ( | ) | const throw () [inline] |
Definition at line 580 of file openni_device.h.
References baseline_.
unsigned char openni_wrapper::OpenNIDevice::getBus | ( | ) | const throw () |
const char* openni_wrapper::OpenNIDevice::getConnectionString | ( | ) | const throw () |
returns the connection string for current device, which has following format vendorID/productID@BusID/DeviceID.
virtual boost::shared_ptr<Image> openni_wrapper::OpenNIDevice::getCurrentImage | ( | boost::shared_ptr< xn::ImageMetaData > | image_data | ) | const throw () [protected, pure virtual] |
const XnMapOutputMode& openni_wrapper::OpenNIDevice::getDefaultDepthMode | ( | ) | const throw () |
returns the default depth mode, which is simply the first entry in the list of modes
const XnMapOutputMode& openni_wrapper::OpenNIDevice::getDefaultImageMode | ( | ) | const throw () |
returns the default image mode, which is simply the first entry in the list of modes
const XnMapOutputMode& openni_wrapper::OpenNIDevice::getDefaultIRMode | ( | ) | const throw () |
returns the default IR mode, which is simply the first entry in the list of modes
float openni_wrapper::OpenNIDevice::getDepthFocalLength | ( | int | output_x_resolution = 0 | ) | const throw () [inline] |
returns the focal length for the IR camera in pixels.
The pixels are assumed to be square. Result depends on the output resolution of the depth image.
Definition at line 566 of file openni_device.h.
XnUInt64 openni_wrapper::OpenNIDevice::getDepthOutputFormat | ( | ) | const |
Get the depth output format as set by the user.
XnMapOutputMode openni_wrapper::OpenNIDevice::getDepthOutputMode | ( | ) | const |
float openni_wrapper::OpenNIDevice::getImageFocalLength | ( | int | output_x_resolution = 0 | ) | const throw () [inline] |
returns the focal length for the color camera in pixels.
The pixels are assumed to be square. Result depends on the output resolution of the image.
Definition at line 555 of file openni_device.h.
XnMapOutputMode openni_wrapper::OpenNIDevice::getImageOutputMode | ( | ) | const |
XnMapOutputMode openni_wrapper::OpenNIDevice::getIROutputMode | ( | ) | const |
unsigned short openni_wrapper::OpenNIDevice::getProductID | ( | ) | const throw () |
const char* openni_wrapper::OpenNIDevice::getProductName | ( | ) | const throw () |
const char* openni_wrapper::OpenNIDevice::getSerialNumber | ( | ) | const throw () |
returns the serial number for device.
unsigned short openni_wrapper::OpenNIDevice::getVendorID | ( | ) | const throw () |
const char* openni_wrapper::OpenNIDevice::getVendorName | ( | ) | const throw () |
bool openni_wrapper::OpenNIDevice::hasDepthStream | ( | ) | const throw () |
bool openni_wrapper::OpenNIDevice::hasImageStream | ( | ) | const throw () |
bool openni_wrapper::OpenNIDevice::hasIRStream | ( | ) | const throw () |
void openni_wrapper::OpenNIDevice::ImageDataThreadFunction | ( | ) | [protected] |
void openni_wrapper::OpenNIDevice::Init | ( | ) | [protected] |
void openni_wrapper::OpenNIDevice::InitShiftToDepthConversion | ( | ) | [protected] |
void openni_wrapper::OpenNIDevice::IRDataThreadFunction | ( | ) | [protected] |
bool openni_wrapper::OpenNIDevice::isDepthCropped | ( | ) | const |
bool openni_wrapper::OpenNIDevice::isDepthCroppingSupported | ( | ) | const throw () |
bool openni_wrapper::OpenNIDevice::isDepthModeSupported | ( | const XnMapOutputMode & | output_mode | ) | const throw () |
returns whether a given mode is natively supported by the device or not
[in] | output_mode | mode to be checked |
bool openni_wrapper::OpenNIDevice::isDepthRegistered | ( | ) | const throw () |
bool openni_wrapper::OpenNIDevice::isDepthRegistrationSupported | ( | ) | const throw () |
virtual bool openni_wrapper::OpenNIDevice::isDepthStreamRunning | ( | ) | const throw () [virtual] |
Reimplemented in openni_wrapper::DeviceONI.
bool openni_wrapper::OpenNIDevice::isImageModeSupported | ( | const XnMapOutputMode & | output_mode | ) | const throw () |
returns whether a given mode is natively supported by the device or not
[in] | output_mode | mode to be checked |
virtual bool openni_wrapper::OpenNIDevice::isImageResizeSupported | ( | unsigned | input_width, |
unsigned | input_height, | ||
unsigned | output_width, | ||
unsigned | output_height | ||
) | const throw () [protected, pure virtual] |
virtual bool openni_wrapper::OpenNIDevice::isImageStreamRunning | ( | ) | const throw () [virtual] |
Reimplemented in openni_wrapper::DeviceONI.
virtual bool openni_wrapper::OpenNIDevice::isIRStreamRunning | ( | ) | const throw () [virtual] |
Reimplemented in openni_wrapper::DeviceONI.
virtual bool openni_wrapper::OpenNIDevice::isSynchronizationSupported | ( | ) | const throw () [virtual] |
Reimplemented in openni_wrapper::DeviceKinect.
bool openni_wrapper::OpenNIDevice::isSynchronized | ( | ) | const throw () |
static void __stdcall openni_wrapper::OpenNIDevice::NewDepthDataAvailable | ( | xn::ProductionNode & | node, |
void * | cookie | ||
) | throw () [static, protected] |
static void __stdcall openni_wrapper::OpenNIDevice::NewImageDataAvailable | ( | xn::ProductionNode & | node, |
void * | cookie | ||
) | throw () [static, protected] |
static void __stdcall openni_wrapper::OpenNIDevice::NewIRDataAvailable | ( | xn::ProductionNode & | node, |
void * | cookie | ||
) | throw () [static, protected] |
void openni_wrapper::OpenNIDevice::ReadDeviceParametersFromSensorNode | ( | ) | [protected] |
CallbackHandle openni_wrapper::OpenNIDevice::registerDepthCallback | ( | const DepthImageCallbackFunction & | callback, |
void * | cookie = NULL |
||
) | throw () |
registers a callback function of boost::function type for the depth stream with an optional user defined parameter.
The callback will always be called with a new depth image and the user data "cookie".
[in] | callback | the user callback to be called if a new depth image is available |
[in] | cookie | the cookie that needs to be passed to the callback together with the new depth image. |
OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::registerDepthCallback | ( | void(T::*)(boost::shared_ptr< DepthImage >, void *cookie) | callback, |
T & | instance, | ||
void * | cookie = NULL |
||
) | throw () |
registers a callback function for the depth stream with an optional user defined parameter.
This version is used to register a member function of any class. The callback will always be called with a new depth image and the user data "cookie".
[in] | callback | the user callback to be called if a new depth image is available |
[in] | cookie | the cookie that needs to be passed to the callback together with the new depth image. |
Definition at line 595 of file openni_device.h.
CallbackHandle openni_wrapper::OpenNIDevice::registerImageCallback | ( | const ImageCallbackFunction & | callback, |
void * | cookie = NULL |
||
) | throw () |
registers a callback function of boost::function type for the image stream with an optional user defined parameter.
The callback will always be called with a new image and the user data "cookie".
[in] | callback | the user callback to be called if a new image is available |
[in] | cookie | the cookie that needs to be passed to the callback together with the new image. |
OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::registerImageCallback | ( | void(T::*)(boost::shared_ptr< Image >, void *cookie) | callback, |
T & | instance, | ||
void * | cookie = NULL |
||
) | throw () |
registers a callback function for the image stream with an optional user defined parameter.
This version is used to register a member function of any class. The callback will always be called with a new image and the user data "cookie".
[in] | callback | the user callback to be called if a new image is available |
[in] | cookie | the cookie that needs to be passed to the callback together with the new image. |
Definition at line 587 of file openni_device.h.
CallbackHandle openni_wrapper::OpenNIDevice::registerIRCallback | ( | const IRImageCallbackFunction & | callback, |
void * | cookie = NULL |
||
) | throw () |
registers a callback function of boost::function type for the IR stream with an optional user defined parameter.
The callback will always be called with a new IR image and the user data "cookie".
[in] | callback | the user callback to be called if a new IR image is available |
[in] | cookie | the cookie that needs to be passed to the callback together with the new IR image. |
OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::registerIRCallback | ( | void(T::*)(boost::shared_ptr< IRImage >, void *cookie) | callback, |
T & | instance, | ||
void * | cookie = NULL |
||
) | throw () |
registers a callback function for the IR stream with an optional user defined parameter.
This version is used to register a member function of any class. The callback will always be called with a new IR image and the user data "cookie".
[in] | callback | the user callback to be called if a new IR image is available |
[in] | cookie | the cookie that needs to be passed to the callback together with the new IR image. |
Definition at line 603 of file openni_device.h.
void openni_wrapper::OpenNIDevice::setDepthCropping | ( | unsigned | x, |
unsigned | y, | ||
unsigned | width, | ||
unsigned | height | ||
) |
turn on cropping for the depth stream.
[in] | x | x-position of the rectangular subregion. |
[in] | y | y-position of the rectangular subregion. |
[in] | width | width of the rectangular subregion. |
[in] | height | height of the rectangular subregion. |
void openni_wrapper::OpenNIDevice::setDepthFocalLength | ( | float | focal_length | ) | [inline] |
Set the depth image focal length.
[in] | focal_length | the depth image focal length |
Definition at line 405 of file openni_device.h.
void openni_wrapper::OpenNIDevice::setDepthOutputFormat | ( | const DepthMode & | depth_mode = OpenNI_12_bit_depth | ) |
Set the depth output format.
Use 12bit depth values or shift values.
[in] | depth_mode | the depth output format |
void openni_wrapper::OpenNIDevice::setDepthOutputMode | ( | const XnMapOutputMode & | output_mode | ) |
sets the output mode of the depth stream
[in] | output_mode | the desired output mode |
void openni_wrapper::OpenNIDevice::setDepthRegistration | ( | bool | on_off | ) |
set the depth stream registration on or off
[in] | on_off |
void openni_wrapper::OpenNIDevice::setImageOutputMode | ( | const XnMapOutputMode & | output_mode | ) |
sets the output mode of the image stream
[in] | output_mode | the desired output mode |
void openni_wrapper::OpenNIDevice::setIROutputMode | ( | const XnMapOutputMode & | output_mode | ) |
sets the output mode of the IR stream
[in] | output_mode | the desired output mode |
void openni_wrapper::OpenNIDevice::setRegistration | ( | bool | on_off | ) | [protected] |
void openni_wrapper::OpenNIDevice::setRGBFocalLength | ( | float | focal_length | ) | [inline] |
Set the RGB image focal length.
[in] | focal_length | the RGB image focal length |
Definition at line 396 of file openni_device.h.
void openni_wrapper::OpenNIDevice::setSynchronization | ( | bool | on_off | ) |
set the hardware synchronization between Depth and RGB stream on or off.
[in] | on_off |
pcl::uint16_t openni_wrapper::OpenNIDevice::shiftToDepth | ( | pcl::uint16_t | shift_value | ) | const [inline] |
Convert shift to depth value.
Definition at line 423 of file openni_device.h.
virtual void openni_wrapper::OpenNIDevice::startDepthStream | ( | ) | [virtual] |
starts the depth stream.
Reimplemented in openni_wrapper::DeviceXtionPro, openni_wrapper::DevicePrimesense, and openni_wrapper::DeviceONI.
virtual void openni_wrapper::OpenNIDevice::startImageStream | ( | ) | [virtual] |
starts the image stream.
Reimplemented in openni_wrapper::DevicePrimesense, and openni_wrapper::DeviceONI.
virtual void openni_wrapper::OpenNIDevice::startIRStream | ( | ) | [virtual] |
starts the IR stream.
Reimplemented in openni_wrapper::DeviceONI.
virtual void openni_wrapper::OpenNIDevice::stopDepthStream | ( | ) | [virtual] |
stops the depth stream.
Reimplemented in openni_wrapper::DeviceONI.
virtual void openni_wrapper::OpenNIDevice::stopImageStream | ( | ) | [virtual] |
stops the image stream.
Reimplemented in openni_wrapper::DeviceONI.
virtual void openni_wrapper::OpenNIDevice::stopIRStream | ( | ) | [virtual] |
stops the IR stream.
Reimplemented in openni_wrapper::DeviceONI.
bool openni_wrapper::OpenNIDevice::unregisterDepthCallback | ( | const CallbackHandle & | callbackHandle | ) | throw () |
unregisters a callback function.
i.e. removes that function from the list of depth stream callbacks.
[in] | callbackHandle | the handle of the callback to unregister. |
bool openni_wrapper::OpenNIDevice::unregisterImageCallback | ( | const CallbackHandle & | callbackHandle | ) | throw () |
unregisters a callback function.
i.e. removes that function from the list of image stream callbacks.
[in] | callbackHandle | the handle of the callback to unregister. |
bool openni_wrapper::OpenNIDevice::unregisterIRCallback | ( | const CallbackHandle & | callbackHandle | ) | throw () |
unregisters a callback function.
i.e. removes that function from the list of IR stream callbacks.
[in] | callbackHandle | the handle of the callback to unregister. |
std::vector<XnMapOutputMode> openni_wrapper::OpenNIDevice::available_depth_modes_ [protected] |
Definition at line 507 of file openni_device.h.
std::vector<XnMapOutputMode> openni_wrapper::OpenNIDevice::available_image_modes_ [protected] |
Definition at line 506 of file openni_device.h.
float openni_wrapper::OpenNIDevice::baseline_ [protected] |
distance between the projector and the IR camera
Definition at line 528 of file openni_device.h.
Referenced by getBaseline().
xn::Context& openni_wrapper::OpenNIDevice::context_ [protected] |
context to OpenNI driver
Definition at line 510 of file openni_device.h.
std::map<CallbackHandle, ActualDepthImageCallbackFunction> openni_wrapper::OpenNIDevice::depth_callback_ [protected] |
Definition at line 503 of file openni_device.h.
XnCallbackHandle openni_wrapper::OpenNIDevice::depth_callback_handle_ [protected] |
Definition at line 521 of file openni_device.h.
OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::depth_callback_handle_counter_ [protected] |
Definition at line 538 of file openni_device.h.
boost::condition_variable openni_wrapper::OpenNIDevice::depth_condition_ [protected] |
Definition at line 546 of file openni_device.h.
float openni_wrapper::OpenNIDevice::depth_focal_length_SXGA_ [protected] |
focal length for IR camera producing depth information in native SXGA mode
Definition at line 526 of file openni_device.h.
xn::DepthGenerator openni_wrapper::OpenNIDevice::depth_generator_ [protected] |
Depth generator object.
Definition at line 515 of file openni_device.h.
boost::mutex openni_wrapper::OpenNIDevice::depth_mutex_ [mutable, protected] |
Definition at line 543 of file openni_device.h.
boost::thread openni_wrapper::OpenNIDevice::depth_thread_ [protected] |
Definition at line 549 of file openni_device.h.
xn::NodeInfo openni_wrapper::OpenNIDevice::device_node_info_ [protected] |
node object for current device
Definition at line 512 of file openni_device.h.
std::map<CallbackHandle, ActualImageCallbackFunction> openni_wrapper::OpenNIDevice::image_callback_ [protected] |
Definition at line 502 of file openni_device.h.
XnCallbackHandle openni_wrapper::OpenNIDevice::image_callback_handle_ [protected] |
Definition at line 522 of file openni_device.h.
OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::image_callback_handle_counter_ [protected] |
Definition at line 537 of file openni_device.h.
boost::condition_variable openni_wrapper::OpenNIDevice::image_condition_ [protected] |
Definition at line 545 of file openni_device.h.
xn::ImageGenerator openni_wrapper::OpenNIDevice::image_generator_ [protected] |
Image generator object.
Definition at line 517 of file openni_device.h.
boost::mutex openni_wrapper::OpenNIDevice::image_mutex_ [mutable, protected] |
Definition at line 542 of file openni_device.h.
boost::thread openni_wrapper::OpenNIDevice::image_thread_ [protected] |
Definition at line 548 of file openni_device.h.
std::map<CallbackHandle, ActualIRImageCallbackFunction> openni_wrapper::OpenNIDevice::ir_callback_ [protected] |
Definition at line 504 of file openni_device.h.
XnCallbackHandle openni_wrapper::OpenNIDevice::ir_callback_handle_ [protected] |
Definition at line 523 of file openni_device.h.
Definition at line 539 of file openni_device.h.
boost::condition_variable openni_wrapper::OpenNIDevice::ir_condition_ [protected] |
Definition at line 547 of file openni_device.h.
xn::IRGenerator openni_wrapper::OpenNIDevice::ir_generator_ [protected] |
IR generator object.
Definition at line 519 of file openni_device.h.
boost::mutex openni_wrapper::OpenNIDevice::ir_mutex_ [mutable, protected] |
Definition at line 544 of file openni_device.h.
boost::thread openni_wrapper::OpenNIDevice::ir_thread_ [protected] |
Definition at line 550 of file openni_device.h.
XnUInt64 openni_wrapper::OpenNIDevice::no_sample_value_ [protected] |
the value for pixels without a valid disparity measurement
Definition at line 535 of file openni_device.h.
bool openni_wrapper::OpenNIDevice::quit_ [protected] |
Definition at line 541 of file openni_device.h.
float openni_wrapper::OpenNIDevice::rgb_focal_length_SXGA_ [protected] |
focal length for regular camera producing color images in native SXGA mode
Definition at line 530 of file openni_device.h.
XnUInt64 openni_wrapper::OpenNIDevice::shadow_value_ [protected] |
the value for shadow (occluded pixels)
Definition at line 533 of file openni_device.h.
struct openni_wrapper::OpenNIDevice::ShiftConversion openni_wrapper::OpenNIDevice::shift_conversion_parameters_ [protected] |
std::vector<pcl::uint16_t> openni_wrapper::OpenNIDevice::shift_to_depth_table_ [protected] |
Definition at line 497 of file openni_device.h.