Point Cloud Library (PCL)  1.7.0
Classes | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::OpenNIGrabber Class Reference

Grabber for OpenNI devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live) More...

#include <pcl/io/openni_grabber.h>

+ Inheritance diagram for pcl::OpenNIGrabber:

List of all members.

Classes

struct  modeComp

Public Types

enum  Mode {
  OpenNI_Default_Mode = 0, OpenNI_SXGA_15Hz = 1, OpenNI_VGA_30Hz = 2, OpenNI_VGA_25Hz = 3,
  OpenNI_QVGA_25Hz = 4, OpenNI_QVGA_30Hz = 5, OpenNI_QVGA_60Hz = 6, OpenNI_QQVGA_25Hz = 7,
  OpenNI_QQVGA_30Hz = 8, OpenNI_QQVGA_60Hz = 9
}
typedef boost::shared_ptr
< OpenNIGrabber
Ptr
typedef boost::shared_ptr
< const OpenNIGrabber
ConstPtr
typedef void( sig_cb_openni_image )(const boost::shared_ptr< openni_wrapper::Image > &)
typedef void( sig_cb_openni_depth_image )(const boost::shared_ptr< openni_wrapper::DepthImage > &)
typedef void( sig_cb_openni_ir_image )(const boost::shared_ptr< openni_wrapper::IRImage > &)
typedef void( sig_cb_openni_image_depth_image )(const boost::shared_ptr< openni_wrapper::Image > &, const boost::shared_ptr< openni_wrapper::DepthImage > &, float constant)
typedef void( sig_cb_openni_ir_depth_image )(const boost::shared_ptr< openni_wrapper::IRImage > &, const boost::shared_ptr< openni_wrapper::DepthImage > &, float constant)
typedef void( sig_cb_openni_point_cloud )(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZ > > &)
typedef void( sig_cb_openni_point_cloud_rgb )(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZRGB > > &)
typedef void( sig_cb_openni_point_cloud_rgba )(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZRGBA > > &)
typedef void( sig_cb_openni_point_cloud_i )(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZI > > &)

Public Member Functions

 OpenNIGrabber (const std::string &device_id="", const Mode &depth_mode=OpenNI_Default_Mode, const Mode &image_mode=OpenNI_Default_Mode)
 Constructor.
virtual ~OpenNIGrabber () throw ()
 virtual Destructor inherited from the Grabber interface.
virtual void start ()
 Start the data acquisition.
virtual void stop ()
 Stop the data acquisition.
virtual bool isRunning () const
 Check if the data acquisition is still running.
virtual std::string getName () const
 returns the name of the concrete subclass.
virtual float getFramesPerSecond () const
 Obtain the number of frames per second (FPS).
boost::shared_ptr
< openni_wrapper::OpenNIDevice
getDevice () const
 Get a boost shared pointer to the OpenNIDevice object.
std::vector< std::pair< int,
XnMapOutputMode > > 
getAvailableDepthModes () const
 Obtain a list of the available depth modes that this device supports.
std::vector< std::pair< int,
XnMapOutputMode > > 
getAvailableImageModes () const
 Obtain a list of the available image modes that this device supports.
void setRGBCameraIntrinsics (const double rgb_focal_length_x, const double rgb_focal_length_y, const double rgb_principal_point_x, const double rgb_principal_point_y)
 Set the RGB camera parameters (fx, fy, cx, cy)
void getRGBCameraIntrinsics (double &rgb_focal_length_x, double &rgb_focal_length_y, double &rgb_principal_point_x, double &rgb_principal_point_y) const
 Get the RGB camera parameters (fx, fy, cx, cy)
void setRGBFocalLength (const double rgb_focal_length)
 Set the RGB image focal length (fx = fy).
void setRGBFocalLength (const double rgb_focal_length_x, const double rgb_focal_length_y)
 Set the RGB image focal length.
void getRGBFocalLength (double &rgb_focal_length_x, double &rgb_focal_length_y) const
 Return the RGB focal length parameters (fx, fy)
void setDepthCameraIntrinsics (const double depth_focal_length_x, const double depth_focal_length_y, const double depth_principal_point_x, const double depth_principal_point_y)
 Set the Depth camera parameters (fx, fy, cx, cy)
void getDepthCameraIntrinsics (double &depth_focal_length_x, double &depth_focal_length_y, double &depth_principal_point_x, double &depth_principal_point_y) const
 Get the Depth camera parameters (fx, fy, cx, cy)
void setDepthFocalLength (const double depth_focal_length)
 Set the Depth image focal length (fx = fy).
void setDepthFocalLength (const double depth_focal_length_x, const double depth_focal_length_y)
 Set the Depth image focal length.
void getDepthFocalLength (double &depth_focal_length_x, double &depth_focal_length_y) const
 Return the Depth focal length parameters (fx, fy)
void convertShiftToDepth (const uint16_t *shift_data_ptr, uint16_t *depth_data_ptr, std::size_t size) const
 Convert vector of raw shift values to depth values.

Protected Member Functions

void onInit (const std::string &device_id, const Mode &depth_mode, const Mode &image_mode)
 On initialization processing.
void setupDevice (const std::string &device_id, const Mode &depth_mode, const Mode &image_mode)
 Sets up an OpenNI device.
void updateModeMaps ()
 Update mode maps.
void startSynchronization ()
 Start synchronization.
void stopSynchronization ()
 Stop synchronization.
bool mapConfigMode2XnMode (int mode, XnMapOutputMode &xnmode) const
 Map config modes.
virtual void imageCallback (boost::shared_ptr< openni_wrapper::Image > image, void *cookie)
 RGB image callback.
virtual void depthCallback (boost::shared_ptr< openni_wrapper::DepthImage > depth_image, void *cookie)
 Depth image callback.
virtual void irCallback (boost::shared_ptr< openni_wrapper::IRImage > ir_image, void *cookie)
 IR image callback.
virtual void imageDepthImageCallback (const boost::shared_ptr< openni_wrapper::Image > &image, const boost::shared_ptr< openni_wrapper::DepthImage > &depth_image)
 RGB + Depth image callback.
virtual void irDepthImageCallback (const boost::shared_ptr< openni_wrapper::IRImage > &image, const boost::shared_ptr< openni_wrapper::DepthImage > &depth_image)
 IR + Depth image callback.
virtual void signalsChanged ()
 Process changed signals.
virtual void checkImageAndDepthSynchronizationRequired ()
 Check if the RGB and Depth images are required to be synchronized or not.
virtual void checkImageStreamRequired ()
 Check if the RGB image stream is required or not.
virtual void checkDepthStreamRequired ()
 Check if the depth stream is required or not.
virtual void checkIRStreamRequired ()
 Check if the IR image stream is required or not.
boost::shared_ptr
< pcl::PointCloud
< pcl::PointXYZ > > 
convertToXYZPointCloud (const boost::shared_ptr< openni_wrapper::DepthImage > &depth) const
 Convert a Depth image to a pcl::PointCloud<pcl::PointXYZ>
template<typename PointT >
pcl::PointCloud< PointT >::Ptr convertToXYZRGBPointCloud (const boost::shared_ptr< openni_wrapper::Image > &image, const boost::shared_ptr< openni_wrapper::DepthImage > &depth_image) const
 Convert a Depth + RGB image pair to a pcl::PointCloud<PointT>
boost::shared_ptr
< pcl::PointCloud
< pcl::PointXYZI > > 
convertToXYZIPointCloud (const boost::shared_ptr< openni_wrapper::IRImage > &image, const boost::shared_ptr< openni_wrapper::DepthImage > &depth_image) const
 Convert a Depth + Intensity image pair to a pcl::PointCloud<pcl::PointXYZI>

Protected Attributes

Synchronizer
< boost::shared_ptr
< openni_wrapper::Image >
, boost::shared_ptr
< openni_wrapper::DepthImage > > 
rgb_sync_
Synchronizer
< boost::shared_ptr
< openni_wrapper::IRImage >
, boost::shared_ptr
< openni_wrapper::DepthImage > > 
ir_sync_
boost::shared_ptr
< openni_wrapper::OpenNIDevice
device_
 The actual openni device.
std::string rgb_frame_id_
std::string depth_frame_id_
unsigned image_width_
unsigned image_height_
unsigned depth_width_
unsigned depth_height_
bool image_required_
bool depth_required_
bool ir_required_
bool sync_required_
boost::signals2::signal
< sig_cb_openni_image > * 
image_signal_
boost::signals2::signal
< sig_cb_openni_depth_image > * 
depth_image_signal_
boost::signals2::signal
< sig_cb_openni_ir_image > * 
ir_image_signal_
boost::signals2::signal
< sig_cb_openni_image_depth_image > * 
image_depth_image_signal_
boost::signals2::signal
< sig_cb_openni_ir_depth_image > * 
ir_depth_image_signal_
boost::signals2::signal
< sig_cb_openni_point_cloud > * 
point_cloud_signal_
boost::signals2::signal
< sig_cb_openni_point_cloud_i > * 
point_cloud_i_signal_
boost::signals2::signal
< sig_cb_openni_point_cloud_rgb > * 
point_cloud_rgb_signal_
boost::signals2::signal
< sig_cb_openni_point_cloud_rgba > * 
point_cloud_rgba_signal_
std::map< int, XnMapOutputMode > config2xn_map_
openni_wrapper::OpenNIDevice::CallbackHandle depth_callback_handle
openni_wrapper::OpenNIDevice::CallbackHandle image_callback_handle
openni_wrapper::OpenNIDevice::CallbackHandle ir_callback_handle
bool running_
double rgb_focal_length_x_
 The RGB image focal length (fx).
double rgb_focal_length_y_
 The RGB image focal length (fy).
double rgb_principal_point_x_
 The RGB image principal point (cx).
double rgb_principal_point_y_
 The RGB image principal point (cy).
double depth_focal_length_x_
 The depth image focal length (fx).
double depth_focal_length_y_
 The depth image focal length (fy).
double depth_principal_point_x_
 The depth image principal point (cx).
double depth_principal_point_y_
 The depth image principal point (cy).

Detailed Description

Grabber for OpenNI devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live)

Author:
Nico Blodow <blodow@cs.tum.edu>, Suat Gedikli <gedikli@willowgarage.com>

Definition at line 69 of file openni_grabber.h.


Member Typedef Documentation

typedef boost::shared_ptr<const OpenNIGrabber> pcl::OpenNIGrabber::ConstPtr

Definition at line 73 of file openni_grabber.h.

typedef boost::shared_ptr<OpenNIGrabber> pcl::OpenNIGrabber::Ptr

Definition at line 72 of file openni_grabber.h.

typedef void( pcl::OpenNIGrabber::sig_cb_openni_depth_image)(const boost::shared_ptr< openni_wrapper::DepthImage > &)

Definition at line 91 of file openni_grabber.h.

typedef void( pcl::OpenNIGrabber::sig_cb_openni_image)(const boost::shared_ptr< openni_wrapper::Image > &)

Definition at line 90 of file openni_grabber.h.

typedef void( pcl::OpenNIGrabber::sig_cb_openni_image_depth_image)(const boost::shared_ptr< openni_wrapper::Image > &, const boost::shared_ptr< openni_wrapper::DepthImage > &, float constant)

Definition at line 93 of file openni_grabber.h.

typedef void( pcl::OpenNIGrabber::sig_cb_openni_ir_depth_image)(const boost::shared_ptr< openni_wrapper::IRImage > &, const boost::shared_ptr< openni_wrapper::DepthImage > &, float constant)

Definition at line 94 of file openni_grabber.h.

typedef void( pcl::OpenNIGrabber::sig_cb_openni_ir_image)(const boost::shared_ptr< openni_wrapper::IRImage > &)

Definition at line 92 of file openni_grabber.h.

typedef void( pcl::OpenNIGrabber::sig_cb_openni_point_cloud)(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZ > > &)

Definition at line 95 of file openni_grabber.h.

typedef void( pcl::OpenNIGrabber::sig_cb_openni_point_cloud_i)(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZI > > &)

Definition at line 98 of file openni_grabber.h.

typedef void( pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgb)(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZRGB > > &)

Definition at line 96 of file openni_grabber.h.

typedef void( pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba)(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZRGBA > > &)

Definition at line 97 of file openni_grabber.h.


Member Enumeration Documentation

Enumerator:
OpenNI_Default_Mode 
OpenNI_SXGA_15Hz 
OpenNI_VGA_30Hz 
OpenNI_VGA_25Hz 
OpenNI_QVGA_25Hz 
OpenNI_QVGA_30Hz 
OpenNI_QVGA_60Hz 
OpenNI_QQVGA_25Hz 
OpenNI_QQVGA_30Hz 
OpenNI_QQVGA_60Hz 

Definition at line 75 of file openni_grabber.h.


Constructor & Destructor Documentation

pcl::OpenNIGrabber::OpenNIGrabber ( const std::string &  device_id = "",
const Mode depth_mode = OpenNI_Default_Mode,
const Mode image_mode = OpenNI_Default_Mode 
)

Constructor.

Parameters:
[in]device_idID of the device, which might be a serial number, bus or the index of the device.
[in]depth_modethe mode of the depth stream
[in]image_modethe mode of the image stream
virtual pcl::OpenNIGrabber::~OpenNIGrabber ( ) throw () [virtual]

virtual Destructor inherited from the Grabber interface.

It never throws.


Member Function Documentation

virtual void pcl::OpenNIGrabber::checkDepthStreamRequired ( ) [protected, virtual]

Check if the depth stream is required or not.

Check if the RGB and Depth images are required to be synchronized or not.

virtual void pcl::OpenNIGrabber::checkImageStreamRequired ( ) [protected, virtual]

Check if the RGB image stream is required or not.

virtual void pcl::OpenNIGrabber::checkIRStreamRequired ( ) [protected, virtual]

Check if the IR image stream is required or not.

void pcl::OpenNIGrabber::convertShiftToDepth ( const uint16_t *  shift_data_ptr,
uint16_t *  depth_data_ptr,
std::size_t  size 
) const [inline]

Convert vector of raw shift values to depth values.

Parameters:
[in]shift_data_ptrinput shift data
[out]depth_data_ptrgenerated depth data
[in]sizeof shift and depth buffer

Definition at line 300 of file openni_grabber.h.

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> > pcl::OpenNIGrabber::convertToXYZIPointCloud ( const boost::shared_ptr< openni_wrapper::IRImage > &  image,
const boost::shared_ptr< openni_wrapper::DepthImage > &  depth_image 
) const [protected]

Convert a Depth + Intensity image pair to a pcl::PointCloud<pcl::PointXYZI>

Parameters:
[in]imagethe IR image to convert
[in]depth_imagethe depth image to convert
boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> > pcl::OpenNIGrabber::convertToXYZPointCloud ( const boost::shared_ptr< openni_wrapper::DepthImage > &  depth) const [protected]

Convert a Depth image to a pcl::PointCloud<pcl::PointXYZ>

Parameters:
[in]depththe depth image to convert
template<typename PointT >
pcl::PointCloud<PointT>::Ptr pcl::OpenNIGrabber::convertToXYZRGBPointCloud ( const boost::shared_ptr< openni_wrapper::Image > &  image,
const boost::shared_ptr< openni_wrapper::DepthImage > &  depth_image 
) const [protected]

Convert a Depth + RGB image pair to a pcl::PointCloud<PointT>

Parameters:
[in]imagethe RGB image to convert
[in]depth_imagethe depth image to convert
virtual void pcl::OpenNIGrabber::depthCallback ( boost::shared_ptr< openni_wrapper::DepthImage depth_image,
void *  cookie 
) [protected, virtual]

Depth image callback.

std::vector<std::pair<int, XnMapOutputMode> > pcl::OpenNIGrabber::getAvailableDepthModes ( ) const

Obtain a list of the available depth modes that this device supports.

std::vector<std::pair<int, XnMapOutputMode> > pcl::OpenNIGrabber::getAvailableImageModes ( ) const

Obtain a list of the available image modes that this device supports.

void pcl::OpenNIGrabber::getDepthCameraIntrinsics ( double &  depth_focal_length_x,
double &  depth_focal_length_y,
double &  depth_principal_point_x,
double &  depth_principal_point_y 
) const [inline]

Get the Depth camera parameters (fx, fy, cx, cy)

Parameters:
[out]depth_focal_length_xthe Depth focal length (fx)
[out]depth_focal_length_ythe Depth focal length (fy)
[out]depth_principal_point_xthe Depth principal point (cx)
[out]depth_principal_point_ythe Depth principal point (cy)

Definition at line 247 of file openni_grabber.h.

void pcl::OpenNIGrabber::getDepthFocalLength ( double &  depth_focal_length_x,
double &  depth_focal_length_y 
) const [inline]

Return the Depth focal length parameters (fx, fy)

Parameters:
[out]depth_focal_length_xthe Depth focal length (fx)
[out]depth_focal_length_ythe Depth focal length (fy)

Definition at line 288 of file openni_grabber.h.

boost::shared_ptr< openni_wrapper::OpenNIDevice > pcl::OpenNIGrabber::getDevice ( ) const [inline]

Get a boost shared pointer to the OpenNIDevice object.

Definition at line 494 of file openni_grabber.h.

References device_.

virtual float pcl::OpenNIGrabber::getFramesPerSecond ( ) const [virtual]

Obtain the number of frames per second (FPS).

Implements pcl::Grabber.

virtual std::string pcl::OpenNIGrabber::getName ( ) const [virtual]

returns the name of the concrete subclass.

Returns:
the name of the concrete driver.

Implements pcl::Grabber.

void pcl::OpenNIGrabber::getRGBCameraIntrinsics ( double &  rgb_focal_length_x,
double &  rgb_focal_length_y,
double &  rgb_principal_point_x,
double &  rgb_principal_point_y 
) const [inline]

Get the RGB camera parameters (fx, fy, cx, cy)

Parameters:
[out]rgb_focal_length_xthe RGB focal length (fx)
[out]rgb_focal_length_ythe RGB focal length (fy)
[out]rgb_principal_point_xthe RGB principal point (cx)
[out]rgb_principal_point_ythe RGB principal point (cy)

Definition at line 171 of file openni_grabber.h.

void pcl::OpenNIGrabber::getRGBFocalLength ( double &  rgb_focal_length_x,
double &  rgb_focal_length_y 
) const [inline]

Return the RGB focal length parameters (fx, fy)

Parameters:
[out]rgb_focal_length_xthe RGB focal length (fx)
[out]rgb_focal_length_ythe RGB focal length (fy)

Definition at line 214 of file openni_grabber.h.

virtual void pcl::OpenNIGrabber::imageCallback ( boost::shared_ptr< openni_wrapper::Image image,
void *  cookie 
) [protected, virtual]

RGB image callback.

virtual void pcl::OpenNIGrabber::imageDepthImageCallback ( const boost::shared_ptr< openni_wrapper::Image > &  image,
const boost::shared_ptr< openni_wrapper::DepthImage > &  depth_image 
) [protected, virtual]

RGB + Depth image callback.

virtual void pcl::OpenNIGrabber::irCallback ( boost::shared_ptr< openni_wrapper::IRImage ir_image,
void *  cookie 
) [protected, virtual]

IR image callback.

virtual void pcl::OpenNIGrabber::irDepthImageCallback ( const boost::shared_ptr< openni_wrapper::IRImage > &  image,
const boost::shared_ptr< openni_wrapper::DepthImage > &  depth_image 
) [protected, virtual]

IR + Depth image callback.

virtual bool pcl::OpenNIGrabber::isRunning ( ) const [virtual]

Check if the data acquisition is still running.

Implements pcl::Grabber.

bool pcl::OpenNIGrabber::mapConfigMode2XnMode ( int  mode,
XnMapOutputMode &  xnmode 
) const [protected]

Map config modes.

void pcl::OpenNIGrabber::onInit ( const std::string &  device_id,
const Mode depth_mode,
const Mode image_mode 
) [protected]

On initialization processing.

void pcl::OpenNIGrabber::setDepthCameraIntrinsics ( const double  depth_focal_length_x,
const double  depth_focal_length_y,
const double  depth_principal_point_x,
const double  depth_principal_point_y 
) [inline]

Set the Depth camera parameters (fx, fy, cx, cy)

Parameters:
[in]depth_focal_length_xthe Depth focal length (fx)
[in]depth_focal_length_ythe Depth focal length (fy)
[in]depth_principal_point_xthe Depth principal point (cx)
[in]depth_principal_point_ythe Depth principal point (cy) Setting the parameters to non-finite values (e.g., NaN, Inf) invalidates them and the grabber will use the default values from the camera instead.

Definition at line 229 of file openni_grabber.h.

void pcl::OpenNIGrabber::setDepthFocalLength ( const double  depth_focal_length) [inline]

Set the Depth image focal length (fx = fy).

Parameters:
[in]depth_focal_lengththe Depth focal length (assumes fx = fy) Setting the parameter to a non-finite value (e.g., NaN, Inf) invalidates it and the grabber will use the default values from the camera instead.

Definition at line 264 of file openni_grabber.h.

void pcl::OpenNIGrabber::setDepthFocalLength ( const double  depth_focal_length_x,
const double  depth_focal_length_y 
) [inline]

Set the Depth image focal length.

Parameters:
[in]depth_focal_length_xthe Depth focal length (fx)
[in]depth_focal_length_ythe Depth focal length (fy) Setting the parameter to non-finite values (e.g., NaN, Inf) invalidates them and the grabber will use the default values from the camera instead.

Definition at line 277 of file openni_grabber.h.

void pcl::OpenNIGrabber::setRGBCameraIntrinsics ( const double  rgb_focal_length_x,
const double  rgb_focal_length_y,
const double  rgb_principal_point_x,
const double  rgb_principal_point_y 
) [inline]

Set the RGB camera parameters (fx, fy, cx, cy)

Parameters:
[in]rgb_focal_length_xthe RGB focal length (fx)
[in]rgb_focal_length_ythe RGB focal length (fy)
[in]rgb_principal_point_xthe RGB principal point (cx)
[in]rgb_principal_point_ythe RGB principal point (cy) Setting the parameters to non-finite values (e.g., NaN, Inf) invalidates them and the grabber will use the default values from the camera instead.

Definition at line 153 of file openni_grabber.h.

void pcl::OpenNIGrabber::setRGBFocalLength ( const double  rgb_focal_length) [inline]

Set the RGB image focal length (fx = fy).

Parameters:
[in]rgb_focal_lengththe RGB focal length (assumes fx = fy) Setting the parameter to a non-finite value (e.g., NaN, Inf) invalidates it and the grabber will use the default values from the camera instead. These parameters will be used for XYZRGBA clouds.

Definition at line 190 of file openni_grabber.h.

void pcl::OpenNIGrabber::setRGBFocalLength ( const double  rgb_focal_length_x,
const double  rgb_focal_length_y 
) [inline]

Set the RGB image focal length.

Parameters:
[in]rgb_focal_length_xthe RGB focal length (fx)
[in]rgb_focal_ulength_ythe RGB focal length (fy) Setting the parameters to non-finite values (e.g., NaN, Inf) invalidates them and the grabber will use the default values from the camera instead. These parameters will be used for XYZRGBA clouds.

Definition at line 203 of file openni_grabber.h.

void pcl::OpenNIGrabber::setupDevice ( const std::string &  device_id,
const Mode depth_mode,
const Mode image_mode 
) [protected]

Sets up an OpenNI device.

virtual void pcl::OpenNIGrabber::signalsChanged ( ) [protected, virtual]

Process changed signals.

Reimplemented from pcl::Grabber.

virtual void pcl::OpenNIGrabber::start ( ) [virtual]

Start the data acquisition.

Implements pcl::Grabber.

Start synchronization.

virtual void pcl::OpenNIGrabber::stop ( ) [virtual]

Stop the data acquisition.

Implements pcl::Grabber.

Stop synchronization.

void pcl::OpenNIGrabber::updateModeMaps ( ) [protected]

Update mode maps.


Member Data Documentation

std::map<int, XnMapOutputMode> pcl::OpenNIGrabber::config2xn_map_ [protected]

Definition at line 465 of file openni_grabber.h.

Definition at line 467 of file openni_grabber.h.

The depth image focal length (fx).

Definition at line 481 of file openni_grabber.h.

The depth image focal length (fy).

Definition at line 483 of file openni_grabber.h.

std::string pcl::OpenNIGrabber::depth_frame_id_ [protected]

Definition at line 425 of file openni_grabber.h.

unsigned pcl::OpenNIGrabber::depth_height_ [protected]

Definition at line 429 of file openni_grabber.h.

Definition at line 437 of file openni_grabber.h.

The depth image principal point (cx).

Definition at line 485 of file openni_grabber.h.

The depth image principal point (cy).

Definition at line 487 of file openni_grabber.h.

Definition at line 432 of file openni_grabber.h.

unsigned pcl::OpenNIGrabber::depth_width_ [protected]

Definition at line 428 of file openni_grabber.h.

The actual openni device.

Definition at line 422 of file openni_grabber.h.

Referenced by getDevice().

Definition at line 468 of file openni_grabber.h.

Definition at line 439 of file openni_grabber.h.

unsigned pcl::OpenNIGrabber::image_height_ [protected]

Definition at line 427 of file openni_grabber.h.

Definition at line 431 of file openni_grabber.h.

boost::signals2::signal<sig_cb_openni_image>* pcl::OpenNIGrabber::image_signal_ [protected]

Definition at line 436 of file openni_grabber.h.

unsigned pcl::OpenNIGrabber::image_width_ [protected]

Definition at line 426 of file openni_grabber.h.

Definition at line 469 of file openni_grabber.h.

Definition at line 440 of file openni_grabber.h.

boost::signals2::signal<sig_cb_openni_ir_image>* pcl::OpenNIGrabber::ir_image_signal_ [protected]

Definition at line 438 of file openni_grabber.h.

Definition at line 433 of file openni_grabber.h.

Definition at line 419 of file openni_grabber.h.

Definition at line 442 of file openni_grabber.h.

Definition at line 443 of file openni_grabber.h.

Definition at line 444 of file openni_grabber.h.

Definition at line 441 of file openni_grabber.h.

The RGB image focal length (fx).

Definition at line 473 of file openni_grabber.h.

The RGB image focal length (fy).

Definition at line 475 of file openni_grabber.h.

std::string pcl::OpenNIGrabber::rgb_frame_id_ [protected]

Definition at line 424 of file openni_grabber.h.

The RGB image principal point (cx).

Definition at line 477 of file openni_grabber.h.

The RGB image principal point (cy).

Definition at line 479 of file openni_grabber.h.

Definition at line 418 of file openni_grabber.h.

bool pcl::OpenNIGrabber::running_ [protected]

Definition at line 470 of file openni_grabber.h.

Definition at line 434 of file openni_grabber.h.


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