37 #include <pcl/pcl_config.h>
40 #ifndef OPENNI_OPENNI_H_
41 #define OPENNI_OPENNI_H_
46 #include "openni_exception.h"
47 #include "openni_device.h"
48 #include <pcl/io/boost.h>
49 #include <pcl/pcl_macros.h>
51 namespace openni_wrapper
83 unsigned updateDeviceList ();
89 inline unsigned getNumberDevices ()
const throw ();
99 boost::shared_ptr<OpenNIDevice> createVirtualDevice (
const std::string& path,
bool repeat,
bool stream)
const;
107 boost::shared_ptr<OpenNIDevice> getDeviceByIndex (
unsigned index)
const;
115 boost::shared_ptr<OpenNIDevice> getDeviceBySerialNumber (
const std::string& serial_number)
const;
125 boost::shared_ptr<OpenNIDevice> getDeviceByAddress (
unsigned char bus,
unsigned char address)
const;
134 const char* getSerialNumber (
unsigned index)
const throw ();
142 const char* getConnectionString (
unsigned index)
const throw ();
150 const char* getVendorName (
unsigned index)
const throw ();
158 const char* getProductName (
unsigned index)
const throw ();
166 unsigned short getVendorID (
unsigned index)
const throw ();
174 unsigned short getProductID (
unsigned index)
const throw ();
182 unsigned char getBus (
unsigned index)
const throw ();
190 unsigned char getAddress (
unsigned index)
const throw ();
206 getDeviceType (
const std::string& connection_string,
unsigned short& vendorId,
unsigned short& productId);
211 DeviceContext (
const xn::NodeInfo& device_node, xn::NodeInfo* image_node, xn::NodeInfo* depth_node, xn::NodeInfo * ir_node);
212 DeviceContext (
const xn::NodeInfo & device_node);
213 DeviceContext (
const DeviceContext&);
222 boost::shared_ptr<OpenNIDevice> getDevice (
unsigned index)
const;
226 void getDeviceInfos () throw ();
232 std::map< unsigned char, std::map<unsigned char, unsigned > >
bus_map_;