Concrete implementation of the interface OpenNIDevice for a MS Kinect device. More...

#include <pcl/io/openni_camera/openni_device_kinect.h>

Inheritance diagram for openni_wrapper::DeviceKinect:

Collaboration diagram for openni_wrapper::DeviceKinect:

Public Member Functions
	DeviceKinect (xn::Context &context, const xn::NodeInfo &device_node, const xn::NodeInfo &image_node, const xn::NodeInfo &depth_node, const xn::NodeInfo &ir_node)

	~DeviceKinect () noexcept override

void	setDebayeringMethod (const ImageBayerGRBG::DebayeringMethod &debayering_method) noexcept

const ImageBayerGRBG::DebayeringMethod &	getDebayeringMethod () const noexcept

bool	isSynchronizationSupported () const noexcept override

Public Member Functions inherited from openni_wrapper::OpenNIDevice
virtual	~OpenNIDevice () noexcept
	virtual destructor. More...

bool	findCompatibleImageMode (const XnMapOutputMode &output_mode, XnMapOutputMode &mode) const noexcept
	finds an image output mode that can be used to retrieve images in desired output mode. More...

bool	findCompatibleDepthMode (const XnMapOutputMode &output_mode, XnMapOutputMode &mode) const noexcept
	finds a depth output mode that can be used to retrieve depth images in desired output mode. More...

bool	isImageModeSupported (const XnMapOutputMode &output_mode) const noexcept
	returns whether a given mode is natively supported by the device or not More...

bool	isDepthModeSupported (const XnMapOutputMode &output_mode) const noexcept
	returns whether a given mode is natively supported by the device or not More...

const XnMapOutputMode &	getDefaultImageMode () const noexcept
	returns the default image mode, which is simply the first entry in the list of modes More...

const XnMapOutputMode &	getDefaultDepthMode () const noexcept
	returns the default depth mode, which is simply the first entry in the list of modes More...

const XnMapOutputMode &	getDefaultIRMode () const noexcept
	returns the default IR mode, which is simply the first entry in the list of modes More...

void	setImageOutputMode (const XnMapOutputMode &output_mode)
	sets the output mode of the image stream More...

void	setDepthOutputMode (const XnMapOutputMode &output_mode)
	sets the output mode of the depth stream More...

void	setIROutputMode (const XnMapOutputMode &output_mode)
	sets the output mode of the IR stream More...

XnMapOutputMode	getImageOutputMode () const

XnMapOutputMode	getDepthOutputMode () const

XnMapOutputMode	getIROutputMode () const

void	setDepthRegistration (bool on_off)
	set the depth stream registration on or off More...

bool	isDepthRegistered () const noexcept

bool	isDepthRegistrationSupported () const noexcept

void	setSynchronization (bool on_off)
	set the hardware synchronization between Depth and RGB stream on or off. More...

bool	isSynchronized () const noexcept

bool	isDepthCropped () const

void	setDepthCropping (unsigned x, unsigned y, unsigned width, unsigned height)
	turn on cropping for the depth stream. More...

bool	isDepthCroppingSupported () const noexcept

float	getImageFocalLength (int output_x_resolution=0) const noexcept
	returns the focal length for the color camera in pixels. More...

float	getDepthFocalLength (int output_x_resolution=0) const noexcept
	returns the focal length for the IR camera in pixels. More...

float	getBaseline () const noexcept

virtual void	startImageStream ()
	starts the image stream. More...

virtual void	stopImageStream ()
	stops the image stream. More...

virtual void	startDepthStream ()
	starts the depth stream. More...

virtual void	stopDepthStream ()
	stops the depth stream. More...

virtual void	startIRStream ()
	starts the IR stream. More...

virtual void	stopIRStream ()
	stops the IR stream. More...

bool	hasImageStream () const noexcept

bool	hasDepthStream () const noexcept

bool	hasIRStream () const noexcept

virtual bool	isImageStreamRunning () const noexcept

virtual bool	isDepthStreamRunning () const noexcept

virtual bool	isIRStreamRunning () const noexcept

CallbackHandle	registerImageCallback (const ImageCallbackFunction &callback, void *cookie=nullptr) noexcept
	registers a callback function of std::function type for the image stream with an optional user defined parameter. More...

template<typename T >
CallbackHandle	registerImageCallback (void(T::callback)(Image::Ptr, void cookie), T &instance, void *cookie=nullptr) noexcept
	registers a callback function for the image stream with an optional user defined parameter. More...

bool	unregisterImageCallback (const CallbackHandle &callbackHandle) noexcept
	unregisters a callback function. More...

CallbackHandle	registerDepthCallback (const DepthImageCallbackFunction &callback, void *cookie=nullptr) noexcept
	registers a callback function of std::function type for the depth stream with an optional user defined parameter. More...

template<typename T >
CallbackHandle	registerDepthCallback (void(T::callback)(DepthImage::Ptr, void cookie), T &instance, void *cookie=nullptr) noexcept
	registers a callback function for the depth stream with an optional user defined parameter. More...

bool	unregisterDepthCallback (const CallbackHandle &callbackHandle) noexcept
	unregisters a callback function. More...

CallbackHandle	registerIRCallback (const IRImageCallbackFunction &callback, void *cookie=nullptr) noexcept
	registers a callback function of std::function type for the IR stream with an optional user defined parameter. More...

template<typename T >
CallbackHandle	registerIRCallback (void(T::callback)(IRImage::Ptr, void cookie), T &instance, void *cookie=nullptr) noexcept
	registers a callback function for the IR stream with an optional user defined parameter. More...

bool	unregisterIRCallback (const CallbackHandle &callbackHandle) noexcept
	unregisters a callback function. More...

const char *	getSerialNumber () const noexcept
	returns the serial number for device. More...

const char *	getConnectionString () const noexcept
	returns the connection string for current device, which has following format vendorID/productID@BusID/DeviceID. More...

const char *	getVendorName () const noexcept

const char *	getProductName () const noexcept

unsigned short	getVendorID () const noexcept

unsigned short	getProductID () const noexcept

unsigned char	getBus () const noexcept

unsigned char	getAddress () const noexcept

void	setRGBFocalLength (float focal_length)
	Set the RGB image focal length. More...

void	setDepthFocalLength (float focal_length)
	Set the depth image focal length. More...

void	setDepthOutputFormat (const DepthMode &depth_mode=OpenNI_12_bit_depth)
	Set the depth output format. More...

XnUInt64	getDepthOutputFormat () const
	Get the depth output format as set by the user. More...

std::uint16_t	shiftToDepth (std::uint16_t shift_value) const
	Convert shift to depth value. More...

Protected Member Functions
Image::Ptr	getCurrentImage (pcl::shared_ptr< xn::ImageMetaData > image_meta_data) const noexcept override

void	enumAvailableModes () noexcept

bool	isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const noexcept override

Protected Member Functions inherited from 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)

	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 ()

void	setRegistration (bool on_off)

void	Init ()

void	InitShiftToDepthConversion ()

void	ReadDeviceParametersFromSensorNode ()

Protected Attributes
ImageBayerGRBG::DebayeringMethod	debayering_method_ {ImageBayerGRBG::EdgeAwareWeighted}

Protected Attributes inherited from openni_wrapper::OpenNIDevice
struct openni_wrapper::OpenNIDevice::ShiftConversion	shift_conversion_parameters_

std::vector< std::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 More...

xn::NodeInfo	device_node_info_
	node object for current device More...

xn::DepthGenerator	depth_generator_
	Depth generator object. More...

xn::ImageGenerator	image_generator_
	Image generator object. More...

xn::IRGenerator	ir_generator_
	IR generator object. More...

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 More...

float	baseline_
	distance between the projector and the IR camera More...

float	rgb_focal_length_SXGA_
	focal length for regular camera producing color images in native SXGA mode More...

XnUInt64	shadow_value_
	the value for shadow (occluded pixels) More...

XnUInt64	no_sample_value_
	the value for pixels without a valid disparity measurement More...

OpenNIDevice::CallbackHandle	image_callback_handle_counter_

OpenNIDevice::CallbackHandle	depth_callback_handle_counter_

OpenNIDevice::CallbackHandle	ir_callback_handle_counter_

bool	quit_

std::mutex	image_mutex_

std::mutex	depth_mutex_

std::mutex	ir_mutex_

std::condition_variable	image_condition_

std::condition_variable	depth_condition_

std::condition_variable	ir_condition_

std::thread	image_thread_

std::thread	depth_thread_

std::thread	ir_thread_

Friends
class	OpenNIDriver

Additional Inherited Members
Public Types inherited from openni_wrapper::OpenNIDevice
enum	DepthMode { OpenNI_shift_values = 0 , OpenNI_12_bit_depth = 1 }

using	Ptr = pcl::shared_ptr< OpenNIDevice >

using	ConstPtr = pcl::shared_ptr< const OpenNIDevice >

using	ImageCallbackFunction = std::function< void(Image::Ptr, void *cookie) >

using	DepthImageCallbackFunction = std::function< void(DepthImage::Ptr, void *cookie) >

using	IRImageCallbackFunction = std::function< void(IRImage::Ptr, void *cookie) >

using	CallbackHandle = unsigned

Protected Types inherited from openni_wrapper::OpenNIDevice
using	ActualImageCallbackFunction = std::function< void(Image::Ptr) >

using	ActualDepthImageCallbackFunction = std::function< void(DepthImage::Ptr) >

using	ActualIRImageCallbackFunction = std::function< void(IRImage::Ptr) >

Static Protected Member Functions inherited from openni_wrapper::OpenNIDevice
static void __stdcall	NewDepthDataAvailable (xn::ProductionNode &node, void *cookie) noexcept

static void __stdcall	NewImageDataAvailable (xn::ProductionNode &node, void *cookie) noexcept

static void __stdcall	NewIRDataAvailable (xn::ProductionNode &node, void *cookie) noexcept

Detailed Description

Concrete implementation of the interface OpenNIDevice for a MS Kinect device.

Author: Suat Gedikli

Date: 02.january 2011

Definition at line 56 of file openni_device_kinect.h.

Constructor & Destructor Documentation

◆ DeviceKinect()

openni_wrapper::DeviceKinect::DeviceKinect	(	xn::Context &	context,
		const xn::NodeInfo &	device_node,
		const xn::NodeInfo &	image_node,
		const xn::NodeInfo &	depth_node,
		const xn::NodeInfo &	ir_node
	)

◆ ~DeviceKinect()

openni_wrapper::DeviceKinect::~DeviceKinect ( )

overridenoexcept

Member Function Documentation

◆ enumAvailableModes()

void openni_wrapper::DeviceKinect::enumAvailableModes ( )

protectednoexcept

◆ getCurrentImage()

Image::Ptr openni_wrapper::DeviceKinect::getCurrentImage ( pcl::shared_ptr< xn::ImageMetaData > image_meta_data ) const

overrideprotectedvirtualnoexcept

Implements openni_wrapper::OpenNIDevice.

◆ getDebayeringMethod()

const ImageBayerGRBG::DebayeringMethod & openni_wrapper::DeviceKinect::getDebayeringMethod ( ) const

inlinenoexcept

Definition at line 82 of file openni_device_kinect.h.

References debayering_method_.

◆ isImageResizeSupported()

bool openni_wrapper::DeviceKinect::isImageResizeSupported	(	unsigned	input_width,
		unsigned	input_height,
		unsigned	output_width,
		unsigned	output_height
	)		const

overrideprotectedvirtualnoexcept

Implements openni_wrapper::OpenNIDevice.

◆ isSynchronizationSupported()

bool openni_wrapper::DeviceKinect::isSynchronizationSupported ( ) const

overridevirtualnoexcept

Returns: true if the Device supports hardware synchronization between Depth and RGB streams or not.

Reimplemented from openni_wrapper::OpenNIDevice.

◆ setDebayeringMethod()

void openni_wrapper::DeviceKinect::setDebayeringMethod ( const ImageBayerGRBG::DebayeringMethod & debayering_method )

inlinenoexcept

Definition at line 76 of file openni_device_kinect.h.

Friends And Related Function Documentation

◆ OpenNIDriver

friend class OpenNIDriver

friend

Definition at line 58 of file openni_device_kinect.h.

Member Data Documentation

◆ debayering_method_

ImageBayerGRBG::DebayeringMethod openni_wrapper::DeviceKinect::debayering_method_ {ImageBayerGRBG::EdgeAwareWeighted}

protected

Definition at line 72 of file openni_device_kinect.h.

Referenced by getDebayeringMethod().

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

pcl/io/openni_camera/openni_device_kinect.h

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members