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>

Inheritance diagram for openni_wrapper::OpenNIDevice:

Collaboration diagram for openni_wrapper::OpenNIDevice:

Classes
struct	ShiftConversion

Public Types
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

Public Member Functions
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

virtual bool	isSynchronizationSupported () 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 Types
using	ActualImageCallbackFunction = std::function< void(Image::Ptr) >

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

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

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 noexcept=0

void	setRegistration (bool on_off)

virtual Image::Ptr	getCurrentImage (pcl::shared_ptr< xn::ImageMetaData > image_data) const noexcept=0

void	Init ()

void	InitShiftToDepthConversion ()

void	ReadDeviceParametersFromSensorNode ()

Static Protected Member Functions
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

Protected Attributes
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_

Detailed Description

Class representing an astract device for OpenNI devices: Primesense PSDK, Microsoft Kinect, Asus Xtion Pro/Live.

Author: Suat Gedikli

Definition at line 71 of file openni_device.h.

Member Typedef Documentation

◆ ActualDepthImageCallbackFunction

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

protected

Definition at line 450 of file openni_device.h.

◆ ActualImageCallbackFunction

using openni_wrapper::OpenNIDevice::ActualImageCallbackFunction = std::function<void(Image::Ptr) >

protected

Definition at line 449 of file openni_device.h.

◆ ActualIRImageCallbackFunction

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

protected

Definition at line 451 of file openni_device.h.

◆ CallbackHandle

using openni_wrapper::OpenNIDevice::CallbackHandle = unsigned

Definition at line 86 of file openni_device.h.

◆ ConstPtr

using openni_wrapper::OpenNIDevice::ConstPtr = pcl::shared_ptr<const OpenNIDevice>

Definition at line 81 of file openni_device.h.

◆ DepthImageCallbackFunction

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

Definition at line 84 of file openni_device.h.

◆ ImageCallbackFunction

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

Definition at line 83 of file openni_device.h.

◆ IRImageCallbackFunction

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

Definition at line 85 of file openni_device.h.

◆ Ptr

using openni_wrapper::OpenNIDevice::Ptr = pcl::shared_ptr<OpenNIDevice>

Definition at line 80 of file openni_device.h.

Member Enumeration Documentation

◆ DepthMode

enum openni_wrapper::OpenNIDevice::DepthMode

Enumerator
OpenNI_shift_values
OpenNI_12_bit_depth

Definition at line 74 of file openni_device.h.

Constructor & Destructor Documentation

◆ ~OpenNIDevice()

virtual openni_wrapper::OpenNIDevice::~OpenNIDevice ( )

virtualnoexcept

virtual destructor.

Never throws an exception.

◆ OpenNIDevice() [1/3]

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

◆ OpenNIDevice() [2/3]

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

protected

◆ OpenNIDevice() [3/3]

openni_wrapper::OpenNIDevice::OpenNIDevice ( xn::Context & context )

protected

Member Function Documentation

◆ DepthDataThreadFunction()

void openni_wrapper::OpenNIDevice::DepthDataThreadFunction ( )

protected

◆ findCompatibleDepthMode()

bool openni_wrapper::OpenNIDevice::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.

e.g If device just supports VGA at 30Hz, then a desired mode of QVGA at 30Hz would be possible by downsampling, but the modes VGA at 25Hz and SXGA at 30Hz would not be compatible.

Parameters

[in]	output_mode	the desired output mode
[out]	mode	the compatible mode that the device natively supports.

Returns: true, if a compatible mode could be found, false otherwise.

◆ findCompatibleImageMode()

bool openni_wrapper::OpenNIDevice::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.

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.

Parameters

[in]	output_mode	the desired output mode
[out]	mode	the compatible mode that the device natively supports.

Returns: true, if a compatible mode could be found, false otherwise.

◆ getAddress()

unsigned char openni_wrapper::OpenNIDevice::getAddress ( ) const

noexcept

Returns: the USB Address of the device.

◆ getBaseline()

float openni_wrapper::OpenNIDevice::getBaseline ( ) const

inlinenoexcept

Returns: Baseline of the "stereo" frame. i.e. for PSDK compatible devices its the distance between the Projector and the IR camera.

Definition at line 587 of file openni_device.h.

References baseline_.

◆ getBus()

unsigned char openni_wrapper::OpenNIDevice::getBus ( ) const

noexcept

Returns: the USB bus on which the device is connected.

◆ getConnectionString()

const char* openni_wrapper::OpenNIDevice::getConnectionString ( ) const

noexcept

returns the connection string for current device, which has following format vendorID/productID@BusID/DeviceID.

◆ getCurrentImage()

virtual Image::Ptr openni_wrapper::OpenNIDevice::getCurrentImage ( pcl::shared_ptr< xn::ImageMetaData > image_data ) const

protectedpure virtualnoexcept

Implemented in openni_wrapper::DeviceXtionPro, openni_wrapper::DevicePrimesense, openni_wrapper::DeviceONI, and openni_wrapper::DeviceKinect.

◆ getDefaultDepthMode()

const XnMapOutputMode& openni_wrapper::OpenNIDevice::getDefaultDepthMode ( ) const

noexcept

returns the default depth mode, which is simply the first entry in the list of modes

Returns: the default depth mode

◆ getDefaultImageMode()

const XnMapOutputMode& openni_wrapper::OpenNIDevice::getDefaultImageMode ( ) const

noexcept

returns the default image mode, which is simply the first entry in the list of modes

Returns: the default image mode

◆ getDefaultIRMode()

const XnMapOutputMode& openni_wrapper::OpenNIDevice::getDefaultIRMode ( ) const

noexcept

returns the default IR mode, which is simply the first entry in the list of modes

Returns: the default IR mode

◆ getDepthFocalLength()

float openni_wrapper::OpenNIDevice::getDepthFocalLength ( int output_x_resolution = 0 ) const

inlinenoexcept

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 574 of file openni_device.h.

◆ getDepthOutputFormat()

XnUInt64 openni_wrapper::OpenNIDevice::getDepthOutputFormat ( ) const

Get the depth output format as set by the user.

◆ getDepthOutputMode()

XnMapOutputMode openni_wrapper::OpenNIDevice::getDepthOutputMode ( ) const

Returns: the current output mode of the depth stream

◆ getImageFocalLength()

float openni_wrapper::OpenNIDevice::getImageFocalLength ( int output_x_resolution = 0 ) const

inlinenoexcept

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 563 of file openni_device.h.

◆ getImageOutputMode()

XnMapOutputMode openni_wrapper::OpenNIDevice::getImageOutputMode ( ) const

Returns: the current output mode of the image stream

◆ getIROutputMode()

XnMapOutputMode openni_wrapper::OpenNIDevice::getIROutputMode ( ) const

Returns: the current output mode of the IR stream

◆ getProductID()

unsigned short openni_wrapper::OpenNIDevice::getProductID ( ) const

noexcept

Returns: the product ID of the USB device.

◆ getProductName()

const char* openni_wrapper::OpenNIDevice::getProductName ( ) const

noexcept

Returns: the product name of the USB device.

◆ getSerialNumber()

const char* openni_wrapper::OpenNIDevice::getSerialNumber ( ) const

noexcept

returns the serial number for device.

Attention: This might be an empty string!!!

◆ getVendorID()

unsigned short openni_wrapper::OpenNIDevice::getVendorID ( ) const

noexcept

Returns: the vendor ID of the USB device.

◆ getVendorName()

const char* openni_wrapper::OpenNIDevice::getVendorName ( ) const

noexcept

Returns: the Vendor name of the USB device.

◆ hasDepthStream()

bool openni_wrapper::OpenNIDevice::hasDepthStream ( ) const

noexcept

Returns: true if the device supports a depth stream, false otherwise.

◆ hasImageStream()

bool openni_wrapper::OpenNIDevice::hasImageStream ( ) const

noexcept

Returns: true if the device supports an image stream, false otherwise.

◆ hasIRStream()

bool openni_wrapper::OpenNIDevice::hasIRStream ( ) const

noexcept

Returns: true if the device supports an IR stream, false otherwise.

◆ ImageDataThreadFunction()

void openni_wrapper::OpenNIDevice::ImageDataThreadFunction ( )

protected

◆ Init()

void openni_wrapper::OpenNIDevice::Init ( )

protected

◆ InitShiftToDepthConversion()

void openni_wrapper::OpenNIDevice::InitShiftToDepthConversion ( )

protected

◆ IRDataThreadFunction()

void openni_wrapper::OpenNIDevice::IRDataThreadFunction ( )

protected

◆ isDepthCropped()

bool openni_wrapper::OpenNIDevice::isDepthCropped ( ) const

Returns: true if depth stream is a cropped version of the native depth stream, false otherwise.

◆ isDepthCroppingSupported()

bool openni_wrapper::OpenNIDevice::isDepthCroppingSupported ( ) const

noexcept

Returns: true if cropping of the depth stream is supported, false otherwise.

◆ isDepthModeSupported()

bool openni_wrapper::OpenNIDevice::isDepthModeSupported ( const XnMapOutputMode & output_mode ) const

noexcept

returns whether a given mode is natively supported by the device or not

Parameters

[in] output_mode mode to be checked

Returns: true if mode natively available, false otherwise

◆ isDepthRegistered()

bool openni_wrapper::OpenNIDevice::isDepthRegistered ( ) const

noexcept

Returns: whether the depth stream is registered to the RGB camera frame or not.

◆ isDepthRegistrationSupported()

bool openni_wrapper::OpenNIDevice::isDepthRegistrationSupported ( ) const

noexcept

Returns: whether a registration of the depth stream to the RGB camera frame is supported or not.

◆ isDepthStreamRunning()

virtual bool openni_wrapper::OpenNIDevice::isDepthStreamRunning ( ) const

virtualnoexcept

Returns: true if the depth stream is running / started, false otherwise.

Reimplemented in openni_wrapper::DeviceONI.

◆ isImageModeSupported()

bool openni_wrapper::OpenNIDevice::isImageModeSupported ( const XnMapOutputMode & output_mode ) const

noexcept

returns whether a given mode is natively supported by the device or not

Parameters

[in] output_mode mode to be checked

Returns: true if mode natively available, false otherwise

◆ isImageResizeSupported()

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

protectedpure virtualnoexcept

Implemented in openni_wrapper::DeviceXtionPro, openni_wrapper::DevicePrimesense, openni_wrapper::DeviceONI, and openni_wrapper::DeviceKinect.

◆ isImageStreamRunning()

virtual bool openni_wrapper::OpenNIDevice::isImageStreamRunning ( ) const

virtualnoexcept

Returns: true if the image stream is running / started, false otherwise.

Reimplemented in openni_wrapper::DeviceONI.

◆ isIRStreamRunning()

virtual bool openni_wrapper::OpenNIDevice::isIRStreamRunning ( ) const

virtualnoexcept

Returns: true if the IR stream is running / started, false otherwise.

Reimplemented in openni_wrapper::DeviceONI.

◆ isSynchronizationSupported()

virtual bool openni_wrapper::OpenNIDevice::isSynchronizationSupported ( ) const

virtualnoexcept

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

Reimplemented in openni_wrapper::DeviceKinect.

◆ isSynchronized()

bool openni_wrapper::OpenNIDevice::isSynchronized ( ) const

noexcept

Returns: true if Depth stream is synchronized to RGB stream, false otherwise.

◆ NewDepthDataAvailable()

static void __stdcall openni_wrapper::OpenNIDevice::NewDepthDataAvailable	(	xn::ProductionNode &	node,
		void *	cookie
	)

staticprotectednoexcept

◆ NewImageDataAvailable()

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

staticprotectednoexcept

◆ NewIRDataAvailable()

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

staticprotectednoexcept

◆ ReadDeviceParametersFromSensorNode()

void openni_wrapper::OpenNIDevice::ReadDeviceParametersFromSensorNode ( )

protected

◆ registerDepthCallback() [1/2]

CallbackHandle openni_wrapper::OpenNIDevice::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.

The callback will always be called with a new depth image and the user data "cookie".

Parameters

[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.

Returns: a callback handler that can be used to remove the user callback from list of depth-stream callbacks.

◆ registerDepthCallback() [2/2]

template<typename T >

OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::registerDepthCallback	(	void(T::)(DepthImage::Ptr, void cookie)	callback,
		T &	instance,
		void *	cookie = `nullptr`
	)

noexcept

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".

Parameters

[in]	callback	the user callback to be called if a new depth image is available
	instance
[in]	cookie	the cookie that needs to be passed to the callback together with the new depth image.

Returns: a callback handler that can be used to remove the user callback from list of depth-stream callbacks.

Definition at line 602 of file openni_device.h.

◆ registerImageCallback() [1/2]

CallbackHandle openni_wrapper::OpenNIDevice::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.

The callback will always be called with a new image and the user data "cookie".

Parameters

[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.

Returns: a callback handler that can be used to remove the user callback from list of image-stream callbacks.

◆ registerImageCallback() [2/2]

template<typename T >

OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::registerImageCallback	(	void(T::)(Image::Ptr, void cookie)	callback,
		T &	instance,
		void *	cookie = `nullptr`
	)

noexcept

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".

Parameters

[in]	callback	the user callback to be called if a new image is available
	instance
[in]	cookie	the cookie that needs to be passed to the callback together with the new image.

Returns: a callback handler that can be used to remove the user callback from list of image-stream callbacks.

Definition at line 594 of file openni_device.h.

◆ registerIRCallback() [1/2]

CallbackHandle openni_wrapper::OpenNIDevice::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.

The callback will always be called with a new IR image and the user data "cookie".

Parameters

[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.

Returns: a callback handler that can be used to remove the user callback from list of IR-stream callbacks.

◆ registerIRCallback() [2/2]

template<typename T >

OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::registerIRCallback	(	void(T::)(IRImage::Ptr, void cookie)	callback,
		T &	instance,
		void *	cookie = `nullptr`
	)

noexcept

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".

Parameters

[in]	callback	the user callback to be called if a new IR image is available
	instance
[in]	cookie	the cookie that needs to be passed to the callback together with the new IR image.

Returns: a callback handler that can be used to remove the user callback from list of IR-stream callbacks.

Definition at line 610 of file openni_device.h.

◆ setDepthCropping()

void openni_wrapper::OpenNIDevice::setDepthCropping	(	unsigned	x,
		unsigned	y,
		unsigned	width,
		unsigned	height
	)

turn on cropping for the depth stream.

Parameters

[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.

◆ setDepthFocalLength()

void openni_wrapper::OpenNIDevice::setDepthFocalLength ( float focal_length )

inline

Set the depth image focal length.

Parameters

[in] focal_length the depth image focal length

Definition at line 413 of file openni_device.h.

◆ setDepthOutputFormat()

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.

Parameters

[in] depth_mode the depth output format

◆ setDepthOutputMode()

void openni_wrapper::OpenNIDevice::setDepthOutputMode ( const XnMapOutputMode & output_mode )

sets the output mode of the depth stream

Parameters

[in] output_mode the desired output mode

◆ setDepthRegistration()

void openni_wrapper::OpenNIDevice::setDepthRegistration ( bool on_off )

set the depth stream registration on or off

Parameters

[in] on_off

◆ setImageOutputMode()

void openni_wrapper::OpenNIDevice::setImageOutputMode ( const XnMapOutputMode & output_mode )

sets the output mode of the image stream

Parameters

[in] output_mode the desired output mode

◆ setIROutputMode()

void openni_wrapper::OpenNIDevice::setIROutputMode ( const XnMapOutputMode & output_mode )

sets the output mode of the IR stream

Parameters

[in] output_mode the desired output mode

◆ setRegistration()

void openni_wrapper::OpenNIDevice::setRegistration ( bool on_off )

protected

◆ setRGBFocalLength()

void openni_wrapper::OpenNIDevice::setRGBFocalLength ( float focal_length )

inline

Set the RGB image focal length.

Parameters

[in] focal_length the RGB image focal length

Definition at line 404 of file openni_device.h.

◆ setSynchronization()

void openni_wrapper::OpenNIDevice::setSynchronization ( bool on_off )

set the hardware synchronization between Depth and RGB stream on or off.

Parameters

[in] on_off

◆ shiftToDepth()

std::uint16_t openni_wrapper::OpenNIDevice::shiftToDepth ( std::uint16_t shift_value ) const

inline

Convert shift to depth value.

Definition at line 431 of file openni_device.h.

◆ startDepthStream()

virtual void openni_wrapper::OpenNIDevice::startDepthStream ( )

virtual

starts the depth stream.

Reimplemented in openni_wrapper::DeviceXtionPro, openni_wrapper::DevicePrimesense, and openni_wrapper::DeviceONI.

◆ startImageStream()

virtual void openni_wrapper::OpenNIDevice::startImageStream ( )

virtual

starts the image stream.

Reimplemented in openni_wrapper::DevicePrimesense, and openni_wrapper::DeviceONI.

◆ startIRStream()

virtual void openni_wrapper::OpenNIDevice::startIRStream ( )

virtual

starts the IR stream.

Reimplemented in openni_wrapper::DeviceONI.

◆ stopDepthStream()

virtual void openni_wrapper::OpenNIDevice::stopDepthStream ( )

virtual

stops the depth stream.

Reimplemented in openni_wrapper::DeviceONI.

◆ stopImageStream()

virtual void openni_wrapper::OpenNIDevice::stopImageStream ( )

virtual

stops the image stream.

Reimplemented in openni_wrapper::DeviceONI.

◆ stopIRStream()

virtual void openni_wrapper::OpenNIDevice::stopIRStream ( )

virtual

stops the IR stream.

Reimplemented in openni_wrapper::DeviceONI.

◆ unregisterDepthCallback()

bool openni_wrapper::OpenNIDevice::unregisterDepthCallback ( const CallbackHandle & callbackHandle )

noexcept

unregisters a callback function.

i.e. removes that function from the list of depth stream callbacks.

Parameters

[in] callbackHandle the handle of the callback to unregister.

Returns: true, if callback was in list and could be unregistered, false otherwise.

◆ unregisterImageCallback()

bool openni_wrapper::OpenNIDevice::unregisterImageCallback ( const CallbackHandle & callbackHandle )

noexcept

unregisters a callback function.

i.e. removes that function from the list of image stream callbacks.

Parameters

[in] callbackHandle the handle of the callback to unregister.

Returns: true, if callback was in list and could be unregistered, false otherwise.

◆ unregisterIRCallback()

bool openni_wrapper::OpenNIDevice::unregisterIRCallback ( const CallbackHandle & callbackHandle )

noexcept

unregisters a callback function.

i.e. removes that function from the list of IR stream callbacks.

Parameters

[in] callbackHandle the handle of the callback to unregister.

Returns: true, if callback was in list and could be unregistered, false otherwise.

Member Data Documentation

◆ available_depth_modes_

std::vector<XnMapOutputMode> openni_wrapper::OpenNIDevice::available_depth_modes_

protected

Definition at line 515 of file openni_device.h.

◆ available_image_modes_

std::vector<XnMapOutputMode> openni_wrapper::OpenNIDevice::available_image_modes_

protected

Definition at line 514 of file openni_device.h.

◆ baseline_

float openni_wrapper::OpenNIDevice::baseline_

protected

distance between the projector and the IR camera

Definition at line 536 of file openni_device.h.

Referenced by getBaseline().

◆ context_

xn::Context& openni_wrapper::OpenNIDevice::context_

protected

context to OpenNI driver

Definition at line 518 of file openni_device.h.

◆ depth_callback_

std::map<CallbackHandle, ActualDepthImageCallbackFunction> openni_wrapper::OpenNIDevice::depth_callback_

protected

Definition at line 511 of file openni_device.h.

◆ depth_callback_handle_

XnCallbackHandle openni_wrapper::OpenNIDevice::depth_callback_handle_

protected

Definition at line 529 of file openni_device.h.

◆ depth_callback_handle_counter_

OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::depth_callback_handle_counter_

protected

Definition at line 546 of file openni_device.h.

◆ depth_condition_

std::condition_variable openni_wrapper::OpenNIDevice::depth_condition_

protected

Definition at line 554 of file openni_device.h.

◆ depth_focal_length_SXGA_

float openni_wrapper::OpenNIDevice::depth_focal_length_SXGA_

protected

focal length for IR camera producing depth information in native SXGA mode

Definition at line 534 of file openni_device.h.

◆ depth_generator_

xn::DepthGenerator openni_wrapper::OpenNIDevice::depth_generator_

protected

Depth generator object.

Definition at line 523 of file openni_device.h.

◆ depth_mutex_

std::mutex openni_wrapper::OpenNIDevice::depth_mutex_

mutableprotected

Definition at line 551 of file openni_device.h.

◆ depth_thread_

std::thread openni_wrapper::OpenNIDevice::depth_thread_

protected

Definition at line 557 of file openni_device.h.

◆ device_node_info_

xn::NodeInfo openni_wrapper::OpenNIDevice::device_node_info_

protected

node object for current device

Definition at line 520 of file openni_device.h.

◆ image_callback_

std::map<CallbackHandle, ActualImageCallbackFunction> openni_wrapper::OpenNIDevice::image_callback_

protected

Definition at line 510 of file openni_device.h.

◆ image_callback_handle_

XnCallbackHandle openni_wrapper::OpenNIDevice::image_callback_handle_

protected

Definition at line 530 of file openni_device.h.

◆ image_callback_handle_counter_

OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::image_callback_handle_counter_

protected

Definition at line 545 of file openni_device.h.

◆ image_condition_

std::condition_variable openni_wrapper::OpenNIDevice::image_condition_

protected

Definition at line 553 of file openni_device.h.

◆ image_generator_

xn::ImageGenerator openni_wrapper::OpenNIDevice::image_generator_

protected

Image generator object.

Definition at line 525 of file openni_device.h.

◆ image_mutex_

std::mutex openni_wrapper::OpenNIDevice::image_mutex_

mutableprotected

Definition at line 550 of file openni_device.h.

◆ image_thread_

std::thread openni_wrapper::OpenNIDevice::image_thread_

protected

Definition at line 556 of file openni_device.h.

◆ ir_callback_

std::map<CallbackHandle, ActualIRImageCallbackFunction> openni_wrapper::OpenNIDevice::ir_callback_

protected

Definition at line 512 of file openni_device.h.

◆ ir_callback_handle_

XnCallbackHandle openni_wrapper::OpenNIDevice::ir_callback_handle_

protected

Definition at line 531 of file openni_device.h.

◆ ir_callback_handle_counter_

OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::ir_callback_handle_counter_

protected

Definition at line 547 of file openni_device.h.

◆ ir_condition_

std::condition_variable openni_wrapper::OpenNIDevice::ir_condition_

protected

Definition at line 555 of file openni_device.h.

◆ ir_generator_

xn::IRGenerator openni_wrapper::OpenNIDevice::ir_generator_

protected

IR generator object.

Definition at line 527 of file openni_device.h.

◆ ir_mutex_

std::mutex openni_wrapper::OpenNIDevice::ir_mutex_

mutableprotected

Definition at line 552 of file openni_device.h.

◆ ir_thread_

std::thread openni_wrapper::OpenNIDevice::ir_thread_

protected

Definition at line 558 of file openni_device.h.

◆ no_sample_value_

XnUInt64 openni_wrapper::OpenNIDevice::no_sample_value_

protected

the value for pixels without a valid disparity measurement

Definition at line 543 of file openni_device.h.

◆ quit_

bool openni_wrapper::OpenNIDevice::quit_

protected

Definition at line 549 of file openni_device.h.

◆ rgb_focal_length_SXGA_

float openni_wrapper::OpenNIDevice::rgb_focal_length_SXGA_

protected

focal length for regular camera producing color images in native SXGA mode

Definition at line 538 of file openni_device.h.

◆ shadow_value_

XnUInt64 openni_wrapper::OpenNIDevice::shadow_value_

protected

the value for shadow (occluded pixels)

Definition at line 541 of file openni_device.h.

◆ shift_conversion_parameters_

struct openni_wrapper::OpenNIDevice::ShiftConversion openni_wrapper::OpenNIDevice::shift_conversion_parameters_

protected

◆ shift_to_depth_table_

std::vector<std::uint16_t> openni_wrapper::OpenNIDevice::shift_to_depth_table_

protected

Definition at line 505 of file openni_device.h.

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

pcl/io/openni_camera/openni_device.h

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ActualDepthImageCallbackFunction

◆ ActualImageCallbackFunction

◆ ActualIRImageCallbackFunction

◆ CallbackHandle

◆ ConstPtr

◆ DepthImageCallbackFunction

◆ ImageCallbackFunction

◆ IRImageCallbackFunction

◆ Ptr

Member Enumeration Documentation

◆ DepthMode

Constructor & Destructor Documentation

◆ ~OpenNIDevice()

◆ OpenNIDevice() [1/3]

◆ OpenNIDevice() [2/3]

◆ OpenNIDevice() [3/3]

Member Function Documentation

◆ DepthDataThreadFunction()

◆ findCompatibleDepthMode()

◆ findCompatibleImageMode()

◆ getAddress()

◆ getBaseline()

◆ getBus()

◆ getConnectionString()

◆ getCurrentImage()

◆ getDefaultDepthMode()

◆ getDefaultImageMode()

◆ getDefaultIRMode()

◆ getDepthFocalLength()

◆ getDepthOutputFormat()

◆ getDepthOutputMode()

◆ getImageFocalLength()

◆ getImageOutputMode()

◆ getIROutputMode()

◆ getProductID()

◆ getProductName()

◆ getSerialNumber()

◆ getVendorID()

◆ getVendorName()

◆ hasDepthStream()

◆ hasImageStream()

◆ hasIRStream()

◆ ImageDataThreadFunction()

◆ Init()

◆ InitShiftToDepthConversion()

◆ IRDataThreadFunction()

◆ isDepthCropped()

◆ isDepthCroppingSupported()

◆ isDepthModeSupported()

◆ isDepthRegistered()

◆ isDepthRegistrationSupported()

◆ isDepthStreamRunning()

◆ isImageModeSupported()

◆ isImageResizeSupported()

◆ isImageStreamRunning()

◆ isIRStreamRunning()

◆ isSynchronizationSupported()

◆ isSynchronized()

◆ NewDepthDataAvailable()

◆ NewImageDataAvailable()

◆ NewIRDataAvailable()

◆ ReadDeviceParametersFromSensorNode()

◆ registerDepthCallback() [1/2]

◆ registerDepthCallback() [2/2]

◆ registerImageCallback() [1/2]

◆ registerImageCallback() [2/2]

◆ registerIRCallback() [1/2]

◆ registerIRCallback() [2/2]

◆ setDepthCropping()

◆ setDepthFocalLength()

◆ setDepthOutputFormat()