Point Cloud Library (PCL)
1.7.0
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Grabber for OpenNI devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live) More...
#include <pcl/io/openni_grabber.h>
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). |
Grabber for OpenNI devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live)
Definition at line 69 of file openni_grabber.h.
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.
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.
pcl::OpenNIGrabber::OpenNIGrabber | ( | const std::string & | device_id = "" , |
const Mode & | depth_mode = OpenNI_Default_Mode , |
||
const Mode & | image_mode = OpenNI_Default_Mode |
||
) |
Constructor.
[in] | device_id | ID of the device, which might be a serial number, bus or the index of the device. |
[in] | depth_mode | the mode of the depth stream |
[in] | image_mode | the mode of the image stream |
virtual pcl::OpenNIGrabber::~OpenNIGrabber | ( | ) | throw () [virtual] |
virtual Destructor inherited from the Grabber interface.
It never throws.
virtual void pcl::OpenNIGrabber::checkDepthStreamRequired | ( | ) | [protected, virtual] |
Check if the depth stream is required or not.
virtual void pcl::OpenNIGrabber::checkImageAndDepthSynchronizationRequired | ( | ) | [protected, virtual] |
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.
[in] | shift_data_ptr | input shift data |
[out] | depth_data_ptr | generated depth data |
[in] | size | of 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>
[in] | image | the IR image to convert |
[in] | depth_image | the 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>
[in] | depth | the depth image to convert |
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] |
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)
[out] | depth_focal_length_x | the Depth focal length (fx) |
[out] | depth_focal_length_y | the Depth focal length (fy) |
[out] | depth_principal_point_x | the Depth principal point (cx) |
[out] | depth_principal_point_y | the 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)
[out] | depth_focal_length_x | the Depth focal length (fx) |
[out] | depth_focal_length_y | the 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.
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)
[out] | rgb_focal_length_x | the RGB focal length (fx) |
[out] | rgb_focal_length_y | the RGB focal length (fy) |
[out] | rgb_principal_point_x | the RGB principal point (cx) |
[out] | rgb_principal_point_y | the 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)
[out] | rgb_focal_length_x | the RGB focal length (fx) |
[out] | rgb_focal_length_y | the 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)
[in] | depth_focal_length_x | the Depth focal length (fx) |
[in] | depth_focal_length_y | the Depth focal length (fy) |
[in] | depth_principal_point_x | the Depth principal point (cx) |
[in] | depth_principal_point_y | the 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).
[in] | depth_focal_length | the 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.
[in] | depth_focal_length_x | the Depth focal length (fx) |
[in] | depth_focal_length_y | the 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)
[in] | rgb_focal_length_x | the RGB focal length (fx) |
[in] | rgb_focal_length_y | the RGB focal length (fy) |
[in] | rgb_principal_point_x | the RGB principal point (cx) |
[in] | rgb_principal_point_y | the 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).
[in] | rgb_focal_length | the 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.
[in] | rgb_focal_length_x | the RGB focal length (fx) |
[in] | rgb_focal_ulength_y | the 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.
void pcl::OpenNIGrabber::startSynchronization | ( | ) | [protected] |
Start synchronization.
virtual void pcl::OpenNIGrabber::stop | ( | ) | [virtual] |
Stop the data acquisition.
Implements pcl::Grabber.
void pcl::OpenNIGrabber::stopSynchronization | ( | ) | [protected] |
Stop synchronization.
void pcl::OpenNIGrabber::updateModeMaps | ( | ) | [protected] |
Update mode maps.
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.
double pcl::OpenNIGrabber::depth_focal_length_x_ [protected] |
The depth image focal length (fx).
Definition at line 481 of file openni_grabber.h.
double pcl::OpenNIGrabber::depth_focal_length_y_ [protected] |
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.
boost::signals2::signal<sig_cb_openni_depth_image>* pcl::OpenNIGrabber::depth_image_signal_ [protected] |
Definition at line 437 of file openni_grabber.h.
double pcl::OpenNIGrabber::depth_principal_point_x_ [protected] |
The depth image principal point (cx).
Definition at line 485 of file openni_grabber.h.
double pcl::OpenNIGrabber::depth_principal_point_y_ [protected] |
The depth image principal point (cy).
Definition at line 487 of file openni_grabber.h.
bool pcl::OpenNIGrabber::depth_required_ [protected] |
Definition at line 432 of file openni_grabber.h.
unsigned pcl::OpenNIGrabber::depth_width_ [protected] |
Definition at line 428 of file openni_grabber.h.
boost::shared_ptr<openni_wrapper::OpenNIDevice> pcl::OpenNIGrabber::device_ [protected] |
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.
boost::signals2::signal<sig_cb_openni_image_depth_image>* pcl::OpenNIGrabber::image_depth_image_signal_ [protected] |
Definition at line 439 of file openni_grabber.h.
unsigned pcl::OpenNIGrabber::image_height_ [protected] |
Definition at line 427 of file openni_grabber.h.
bool pcl::OpenNIGrabber::image_required_ [protected] |
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.
boost::signals2::signal<sig_cb_openni_ir_depth_image>* pcl::OpenNIGrabber::ir_depth_image_signal_ [protected] |
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.
bool pcl::OpenNIGrabber::ir_required_ [protected] |
Definition at line 433 of file openni_grabber.h.
Synchronizer<boost::shared_ptr<openni_wrapper::IRImage>, boost::shared_ptr<openni_wrapper::DepthImage> > pcl::OpenNIGrabber::ir_sync_ [protected] |
Definition at line 419 of file openni_grabber.h.
boost::signals2::signal<sig_cb_openni_point_cloud_i>* pcl::OpenNIGrabber::point_cloud_i_signal_ [protected] |
Definition at line 442 of file openni_grabber.h.
boost::signals2::signal<sig_cb_openni_point_cloud_rgb>* pcl::OpenNIGrabber::point_cloud_rgb_signal_ [protected] |
Definition at line 443 of file openni_grabber.h.
boost::signals2::signal<sig_cb_openni_point_cloud_rgba>* pcl::OpenNIGrabber::point_cloud_rgba_signal_ [protected] |
Definition at line 444 of file openni_grabber.h.
boost::signals2::signal<sig_cb_openni_point_cloud>* pcl::OpenNIGrabber::point_cloud_signal_ [protected] |
Definition at line 441 of file openni_grabber.h.
double pcl::OpenNIGrabber::rgb_focal_length_x_ [protected] |
The RGB image focal length (fx).
Definition at line 473 of file openni_grabber.h.
double pcl::OpenNIGrabber::rgb_focal_length_y_ [protected] |
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.
double pcl::OpenNIGrabber::rgb_principal_point_x_ [protected] |
The RGB image principal point (cx).
Definition at line 477 of file openni_grabber.h.
double pcl::OpenNIGrabber::rgb_principal_point_y_ [protected] |
The RGB image principal point (cy).
Definition at line 479 of file openni_grabber.h.
Synchronizer<boost::shared_ptr<openni_wrapper::Image>, boost::shared_ptr<openni_wrapper::DepthImage> > pcl::OpenNIGrabber::rgb_sync_ [protected] |
Definition at line 418 of file openni_grabber.h.
bool pcl::OpenNIGrabber::running_ [protected] |
Definition at line 470 of file openni_grabber.h.
bool pcl::OpenNIGrabber::sync_required_ [protected] |
Definition at line 434 of file openni_grabber.h.