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:

Collaboration diagram for pcl::OpenNIGrabber:

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 }

using	Ptr = shared_ptr< OpenNIGrabber >

using	ConstPtr = shared_ptr< const OpenNIGrabber >

using	sig_cb_openni_image = void(const openni_wrapper::Image::Ptr &)

using	sig_cb_openni_depth_image = void(const openni_wrapper::DepthImage::Ptr &)

using	sig_cb_openni_ir_image = void(const openni_wrapper::IRImage::Ptr &)

using	sig_cb_openni_image_depth_image = void(const openni_wrapper::Image::Ptr &, const openni_wrapper::DepthImage::Ptr &, float)

using	sig_cb_openni_ir_depth_image = void(const openni_wrapper::IRImage::Ptr &, const openni_wrapper::DepthImage::Ptr &, float)

using	sig_cb_openni_point_cloud = void(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &)

using	sig_cb_openni_point_cloud_rgb = void(const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &)

using	sig_cb_openni_point_cloud_rgba = void(const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &)

using	sig_cb_openni_point_cloud_i = void(const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &)

Public Member Functions
	OpenNIGrabber (const std::string &device_id="", const Mode &depth_mode=OpenNI_Default_Mode, const Mode &image_mode=OpenNI_Default_Mode)
	Constructor. More...

	~OpenNIGrabber () noexcept override
	virtual Destructor inherited from the Grabber interface. More...

void	start () override
	Start the data acquisition. More...

void	stop () override
	Stop the data acquisition. More...

bool	isRunning () const override
	Check if the data acquisition is still running. More...

std::string	getName () const override
	returns the name of the concrete subclass. More...

float	getFramesPerSecond () const override
	Obtain the number of frames per second (FPS). More...

openni_wrapper::OpenNIDevice::Ptr	getDevice () const
	Get a pcl::shared pointer to the openni_wrapper::OpenNIDevice object. More...

std::vector< std::pair< int, XnMapOutputMode > >	getAvailableDepthModes () const
	Obtain a list of the available depth modes that this device supports. More...

std::vector< std::pair< int, XnMapOutputMode > >	getAvailableImageModes () const
	Obtain a list of the available image modes that this device supports. More...

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) More...

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) More...

void	setRGBFocalLength (const double rgb_focal_length)
	Set the RGB image focal length (fx = fy). More...

void	setRGBFocalLength (const double rgb_focal_length_x, const double rgb_focal_length_y)
	Set the RGB image focal length. More...

void	getRGBFocalLength (double &rgb_focal_length_x, double &rgb_focal_length_y) const
	Return the RGB focal length parameters (fx, fy) More...

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) More...

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) More...

void	setDepthFocalLength (const double depth_focal_length)
	Set the Depth image focal length (fx = fy). More...

void	setDepthFocalLength (const double depth_focal_length_x, const double depth_focal_length_y)
	Set the Depth image focal length. More...

void	getDepthFocalLength (double &depth_focal_length_x, double &depth_focal_length_y) const
	Return the Depth focal length parameters (fx, fy) More...

void	convertShiftToDepth (const std::uint16_t shift_data_ptr, std::uint16_t depth_data_ptr, std::size_t size) const
	Convert vector of raw shift values to depth values. More...

Public Member Functions inherited from pcl::Grabber
	Grabber ()=default
	Default ctor. More...

	Grabber (const Grabber &)=delete
	No copy ctor since Grabber can't be copied. More...

Grabber &	operator= (const Grabber &)=delete
	No copy assign operator since Grabber can't be copied. More...

	Grabber (Grabber &&)=default
	Move ctor. More...

Grabber &	operator= (Grabber &&)=default
	Move assign operator. More...

virtual	~Grabber () noexcept=default
	virtual destructor. More...

template<typename T >
boost::signals2::connection	registerCallback (const std::function< T > &callback)
	registers a callback function/method to a signal with the corresponding signature More...

template<typename T >
bool	providesCallback () const noexcept
	indicates whether a signal with given parameter-type exists or not More...

bool	toggle ()
	For devices that are streaming, stopped streams are started and running stream are stopped. More...

Protected Member Functions
void	onInit (const std::string &device_id, const Mode &depth_mode, const Mode &image_mode)
	On initialization processing. More...

void	setupDevice (const std::string &device_id, const Mode &depth_mode, const Mode &image_mode)
	Sets up an OpenNI device. More...

void	updateModeMaps ()
	Update mode maps. More...

void	startSynchronization ()
	Start synchronization. More...

void	stopSynchronization ()
	Stop synchronization. More...

bool	mapConfigMode2XnMode (int mode, XnMapOutputMode &xnmode) const
	Map config modes. More...

virtual void	imageCallback (openni_wrapper::Image::Ptr image, void *cookie)
	RGB image callback. More...

virtual void	depthCallback (openni_wrapper::DepthImage::Ptr depth_image, void *cookie)
	Depth image callback. More...

virtual void	irCallback (openni_wrapper::IRImage::Ptr ir_image, void *cookie)
	IR image callback. More...

virtual void	imageDepthImageCallback (const openni_wrapper::Image::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image)
	RGB + Depth image callback. More...

virtual void	irDepthImageCallback (const openni_wrapper::IRImage::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image)
	IR + Depth image callback. More...

void	signalsChanged () override
	Process changed signals. More...

virtual void	checkImageAndDepthSynchronizationRequired ()
	Check if the RGB and Depth images are required to be synchronized or not. More...

virtual void	checkImageStreamRequired ()
	Check if the RGB image stream is required or not. More...

virtual void	checkDepthStreamRequired ()
	Check if the depth stream is required or not. More...

virtual void	checkIRStreamRequired ()
	Check if the IR image stream is required or not. More...

pcl::PointCloud< pcl::PointXYZ >::Ptr	convertToXYZPointCloud (const openni_wrapper::DepthImage::Ptr &depth) const
	Convert a Depth image to a pcl::PointCloud<pcl::PointXYZ> More...

template<typename PointT >
pcl::PointCloud< PointT >::Ptr	convertToXYZRGBPointCloud (const openni_wrapper::Image::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image) const
	Convert a Depth + RGB image pair to a pcl::PointCloud<PointT> More...

pcl::PointCloud< pcl::PointXYZI >::Ptr	convertToXYZIPointCloud (const openni_wrapper::IRImage::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image) const
	Convert a Depth + Intensity image pair to a pcl::PointCloud<pcl::PointXYZI> More...

Protected Member Functions inherited from pcl::Grabber
template<typename T >
boost::signals2::signal< T > *	find_signal () const noexcept

template<typename T >
int	num_slots () const noexcept

template<typename T >
void	disconnect_all_slots ()

template<typename T >
void	block_signal ()

template<typename T >
void	unblock_signal ()

void	block_signals ()

void	unblock_signals ()

template<typename T >
boost::signals2::signal< T > *	createSignal ()

Protected Attributes
Synchronizer< openni_wrapper::Image::Ptr, openni_wrapper::DepthImage::Ptr >	rgb_sync_

Synchronizer< openni_wrapper::IRImage::Ptr, openni_wrapper::DepthImage::Ptr >	ir_sync_

openni_wrapper::OpenNIDevice::Ptr	device_
	The actual openni device. More...

std::string	rgb_frame_id_

std::string	depth_frame_id_

unsigned	image_width_ {0}

unsigned	image_height_ {0}

unsigned	depth_width_ {0}

unsigned	depth_height_ {0}

bool	image_required_ {false}

bool	depth_required_ {false}

bool	ir_required_ {false}

bool	sync_required_ {false}

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_ {false}

unsigned	rgb_array_size_ {0}

unsigned	depth_buffer_size_ {0}

boost::shared_array< unsigned char >	rgb_array_

boost::shared_array< unsigned short >	depth_buffer_

boost::shared_array< unsigned short >	ir_buffer_

double	rgb_focal_length_x_
	The RGB image focal length (fx). More...

double	rgb_focal_length_y_
	The RGB image focal length (fy). More...

double	rgb_principal_point_x_
	The RGB image principal point (cx). More...

double	rgb_principal_point_y_
	The RGB image principal point (cy). More...

double	depth_focal_length_x_
	The depth image focal length (fx). More...

double	depth_focal_length_y_
	The depth image focal length (fy). More...

double	depth_principal_point_x_
	The depth image principal point (cx). More...

double	depth_principal_point_y_
	The depth image principal point (cy). More...

Protected Attributes inherited from pcl::Grabber
std::map< std::string, std::unique_ptr< boost::signals2::signal_base > >	signals_

std::map< std::string, std::vector< boost::signals2::connection > >	connections_

std::map< std::string, std::vector< boost::signals2::shared_connection_block > >	shared_connections_

Detailed Description

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

Author: Nico Blodow blodo.nosp@m.w@cs.nosp@m..tum..nosp@m.edu, Suat Gedikli gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m

Definition at line 69 of file openni_grabber.h.

Member Typedef Documentation

◆ ConstPtr

using pcl::OpenNIGrabber::ConstPtr = shared_ptr<const OpenNIGrabber>

Definition at line 73 of file openni_grabber.h.

◆ Ptr

using pcl::OpenNIGrabber::Ptr = shared_ptr<OpenNIGrabber>

Definition at line 72 of file openni_grabber.h.

◆ sig_cb_openni_depth_image

using pcl::OpenNIGrabber::sig_cb_openni_depth_image = void (const openni_wrapper::DepthImage::Ptr &)

Definition at line 91 of file openni_grabber.h.

◆ sig_cb_openni_image

using pcl::OpenNIGrabber::sig_cb_openni_image = void (const openni_wrapper::Image::Ptr &)

Definition at line 90 of file openni_grabber.h.

◆ sig_cb_openni_image_depth_image

using pcl::OpenNIGrabber::sig_cb_openni_image_depth_image = void (const openni_wrapper::Image::Ptr &, const openni_wrapper::DepthImage::Ptr &, float)

Definition at line 93 of file openni_grabber.h.

◆ sig_cb_openni_ir_depth_image

using pcl::OpenNIGrabber::sig_cb_openni_ir_depth_image = void (const openni_wrapper::IRImage::Ptr &, const openni_wrapper::DepthImage::Ptr &, float)

Definition at line 94 of file openni_grabber.h.

◆ sig_cb_openni_ir_image

using pcl::OpenNIGrabber::sig_cb_openni_ir_image = void (const openni_wrapper::IRImage::Ptr &)

Definition at line 92 of file openni_grabber.h.

◆ sig_cb_openni_point_cloud

using pcl::OpenNIGrabber::sig_cb_openni_point_cloud = void (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &)

Definition at line 95 of file openni_grabber.h.

◆ sig_cb_openni_point_cloud_i

using pcl::OpenNIGrabber::sig_cb_openni_point_cloud_i = void (const pcl::PointCloud<pcl::PointXYZI>::ConstPtr &)

Definition at line 98 of file openni_grabber.h.

◆ sig_cb_openni_point_cloud_rgb

using pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgb = void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr &)

Definition at line 96 of file openni_grabber.h.

◆ sig_cb_openni_point_cloud_rgba

using pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba = void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &)

Definition at line 97 of file openni_grabber.h.

Member Enumeration Documentation

◆ Mode

enum pcl::OpenNIGrabber::Mode

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

◆ OpenNIGrabber()

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_id	ID of the device, which might be a serial number, bus@address or the index of the device.
[in]	depth_mode	the mode of the depth stream
[in]	image_mode	the mode of the image stream

◆ ~OpenNIGrabber()

pcl::OpenNIGrabber::~OpenNIGrabber ( )

overridenoexcept

virtual Destructor inherited from the Grabber interface.

It never throws.

Member Function Documentation

◆ checkDepthStreamRequired()

virtual void pcl::OpenNIGrabber::checkDepthStreamRequired ( )

protectedvirtual

Check if the depth stream is required or not.

◆ checkImageAndDepthSynchronizationRequired()

virtual void pcl::OpenNIGrabber::checkImageAndDepthSynchronizationRequired ( )

protectedvirtual

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

◆ checkImageStreamRequired()

virtual void pcl::OpenNIGrabber::checkImageStreamRequired ( )

protectedvirtual

Check if the RGB image stream is required or not.

◆ checkIRStreamRequired()

virtual void pcl::OpenNIGrabber::checkIRStreamRequired ( )

protectedvirtual

Check if the IR image stream is required or not.

◆ convertShiftToDepth()

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

inline

Convert vector of raw shift values to depth values.

Parameters

[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.

◆ convertToXYZIPointCloud()

pcl::PointCloud<pcl::PointXYZI>::Ptr pcl::OpenNIGrabber::convertToXYZIPointCloud	(	const openni_wrapper::IRImage::Ptr &	image,
		const openni_wrapper::DepthImage::Ptr &	depth_image
	)		const

protected

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

Parameters

[in]	image	the IR image to convert
[in]	depth_image	the depth image to convert

◆ convertToXYZPointCloud()

pcl::PointCloud<pcl::PointXYZ>::Ptr pcl::OpenNIGrabber::convertToXYZPointCloud ( const openni_wrapper::DepthImage::Ptr & depth ) const

protected

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

Parameters

[in] depth the depth image to convert

◆ convertToXYZRGBPointCloud()

template<typename PointT >

pcl::PointCloud<PointT>::Ptr pcl::OpenNIGrabber::convertToXYZRGBPointCloud	(	const openni_wrapper::Image::Ptr &	image,
		const openni_wrapper::DepthImage::Ptr &	depth_image
	)		const

protected

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

Parameters

[in]	image	the RGB image to convert
[in]	depth_image	the depth image to convert

◆ depthCallback()

virtual void pcl::OpenNIGrabber::depthCallback	(	openni_wrapper::DepthImage::Ptr	depth_image,
		void *	cookie
	)

protectedvirtual

Depth image callback.

◆ getAvailableDepthModes()

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

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

◆ getAvailableImageModes()

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

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

◆ getDepthCameraIntrinsics()

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_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.

◆ getDepthFocalLength()

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_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.

◆ getDevice()

openni_wrapper::OpenNIDevice::Ptr pcl::OpenNIGrabber::getDevice ( ) const

inline

Get a pcl::shared pointer to the openni_wrapper::OpenNIDevice object.

Definition at line 496 of file openni_grabber.h.

References device_.

◆ getFramesPerSecond()

float pcl::OpenNIGrabber::getFramesPerSecond ( ) const

overridevirtual

Obtain the number of frames per second (FPS).

Implements pcl::Grabber.

◆ getName()

std::string pcl::OpenNIGrabber::getName ( ) const

overridevirtual

returns the name of the concrete subclass.

Returns: the name of the concrete driver.

Implements pcl::Grabber.

◆ getRGBCameraIntrinsics()

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_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.

◆ getRGBFocalLength()

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_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.

◆ imageCallback()

virtual void pcl::OpenNIGrabber::imageCallback	(	openni_wrapper::Image::Ptr	image,
		void *	cookie
	)

protectedvirtual

RGB image callback.

◆ imageDepthImageCallback()

virtual void pcl::OpenNIGrabber::imageDepthImageCallback	(	const openni_wrapper::Image::Ptr &	image,
		const openni_wrapper::DepthImage::Ptr &	depth_image
	)

protectedvirtual

RGB + Depth image callback.

◆ irCallback()

virtual void pcl::OpenNIGrabber::irCallback	(	openni_wrapper::IRImage::Ptr	ir_image,
		void *	cookie
	)

protectedvirtual

IR image callback.

◆ irDepthImageCallback()

virtual void pcl::OpenNIGrabber::irDepthImageCallback	(	const openni_wrapper::IRImage::Ptr &	image,
		const openni_wrapper::DepthImage::Ptr &	depth_image
	)

protectedvirtual

IR + Depth image callback.

◆ isRunning()

bool pcl::OpenNIGrabber::isRunning ( ) const

overridevirtual

Check if the data acquisition is still running.

Implements pcl::Grabber.

◆ mapConfigMode2XnMode()

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

protected

Map config modes.

◆ onInit()

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

protected

On initialization processing.

◆ setDepthCameraIntrinsics()

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_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.

◆ setDepthFocalLength() [1/2]

void pcl::OpenNIGrabber::setDepthFocalLength ( const double depth_focal_length )

inline

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

Parameters

[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.

◆ setDepthFocalLength() [2/2]

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_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.

◆ setRGBCameraIntrinsics()

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_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.

◆ setRGBFocalLength() [1/2]

void pcl::OpenNIGrabber::setRGBFocalLength ( const double rgb_focal_length )

inline

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

Parameters

[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.

◆ setRGBFocalLength() [2/2]

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_x	the RGB focal length (fx)
[in]	rgb_focal_length_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.

◆ setupDevice()

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

protected

Sets up an OpenNI device.

◆ signalsChanged()

void pcl::OpenNIGrabber::signalsChanged ( )

overrideprotectedvirtual

Process changed signals.

Reimplemented from pcl::Grabber.

◆ start()

void pcl::OpenNIGrabber::start ( )

overridevirtual

Start the data acquisition.

Implements pcl::Grabber.

◆ startSynchronization()

void pcl::OpenNIGrabber::startSynchronization ( )

protected

Start synchronization.

◆ stop()

void pcl::OpenNIGrabber::stop ( )

overridevirtual

Stop the data acquisition.

Implements pcl::Grabber.

◆ stopSynchronization()

void pcl::OpenNIGrabber::stopSynchronization ( )

protected

Stop synchronization.

◆ updateModeMaps()

void pcl::OpenNIGrabber::updateModeMaps ( )

protected

Update mode maps.

Member Data Documentation

◆ config2xn_map_

std::map<int, XnMapOutputMode> pcl::OpenNIGrabber::config2xn_map_

protected

Definition at line 461 of file openni_grabber.h.

◆ depth_buffer_

boost::shared_array<unsigned short> pcl::OpenNIGrabber::depth_buffer_

mutableprotected

Definition at line 471 of file openni_grabber.h.

◆ depth_buffer_size_

unsigned pcl::OpenNIGrabber::depth_buffer_size_ {0}

mutableprotected

Definition at line 469 of file openni_grabber.h.

◆ depth_callback_handle

openni_wrapper::OpenNIDevice::CallbackHandle pcl::OpenNIGrabber::depth_callback_handle {}

protected

Definition at line 463 of file openni_grabber.h.

◆ depth_focal_length_x_

double pcl::OpenNIGrabber::depth_focal_length_x_

protected

The depth image focal length (fx).

Definition at line 483 of file openni_grabber.h.

◆ depth_focal_length_y_

double pcl::OpenNIGrabber::depth_focal_length_y_

protected

The depth image focal length (fy).

Definition at line 485 of file openni_grabber.h.

◆ depth_frame_id_

std::string pcl::OpenNIGrabber::depth_frame_id_

protected

Definition at line 424 of file openni_grabber.h.

◆ depth_height_

unsigned pcl::OpenNIGrabber::depth_height_ {0}

protected

Definition at line 428 of file openni_grabber.h.

◆ depth_image_signal_

boost::signals2::signal<sig_cb_openni_depth_image>* pcl::OpenNIGrabber::depth_image_signal_ {}

protected

Definition at line 436 of file openni_grabber.h.

◆ depth_principal_point_x_

double pcl::OpenNIGrabber::depth_principal_point_x_

protected

The depth image principal point (cx).

Definition at line 487 of file openni_grabber.h.

◆ depth_principal_point_y_

double pcl::OpenNIGrabber::depth_principal_point_y_

protected

The depth image principal point (cy).

Definition at line 489 of file openni_grabber.h.

◆ depth_required_

bool pcl::OpenNIGrabber::depth_required_ {false}

protected

Definition at line 431 of file openni_grabber.h.

◆ depth_width_

unsigned pcl::OpenNIGrabber::depth_width_ {0}

protected

Definition at line 427 of file openni_grabber.h.

◆ device_

openni_wrapper::OpenNIDevice::Ptr pcl::OpenNIGrabber::device_

protected

The actual openni device.

Definition at line 421 of file openni_grabber.h.

Referenced by getDevice().

◆ image_callback_handle

openni_wrapper::OpenNIDevice::CallbackHandle pcl::OpenNIGrabber::image_callback_handle {}

protected

Definition at line 464 of file openni_grabber.h.

◆ image_depth_image_signal_

boost::signals2::signal<sig_cb_openni_image_depth_image>* pcl::OpenNIGrabber::image_depth_image_signal_ {}

protected

Definition at line 438 of file openni_grabber.h.

◆ image_height_

unsigned pcl::OpenNIGrabber::image_height_ {0}

protected

Definition at line 426 of file openni_grabber.h.

◆ image_required_

bool pcl::OpenNIGrabber::image_required_ {false}

protected

Definition at line 430 of file openni_grabber.h.

◆ image_signal_

boost::signals2::signal<sig_cb_openni_image>* pcl::OpenNIGrabber::image_signal_ {}

protected

Definition at line 435 of file openni_grabber.h.

◆ image_width_

unsigned pcl::OpenNIGrabber::image_width_ {0}

protected

Definition at line 425 of file openni_grabber.h.

◆ ir_buffer_

boost::shared_array<unsigned short> pcl::OpenNIGrabber::ir_buffer_

mutableprotected

Definition at line 472 of file openni_grabber.h.

◆ ir_callback_handle

openni_wrapper::OpenNIDevice::CallbackHandle pcl::OpenNIGrabber::ir_callback_handle {}

protected

Definition at line 465 of file openni_grabber.h.

◆ ir_depth_image_signal_

boost::signals2::signal<sig_cb_openni_ir_depth_image>* pcl::OpenNIGrabber::ir_depth_image_signal_ {}

protected

Definition at line 439 of file openni_grabber.h.

◆ ir_image_signal_

boost::signals2::signal<sig_cb_openni_ir_image>* pcl::OpenNIGrabber::ir_image_signal_ {}

protected

Definition at line 437 of file openni_grabber.h.

◆ ir_required_

bool pcl::OpenNIGrabber::ir_required_ {false}

protected

Definition at line 432 of file openni_grabber.h.

◆ ir_sync_

Synchronizer<openni_wrapper::IRImage::Ptr, openni_wrapper::DepthImage::Ptr > pcl::OpenNIGrabber::ir_sync_

protected

Definition at line 418 of file openni_grabber.h.

◆ point_cloud_i_signal_

boost::signals2::signal<sig_cb_openni_point_cloud_i>* pcl::OpenNIGrabber::point_cloud_i_signal_ {}

protected

Definition at line 441 of file openni_grabber.h.

◆ point_cloud_rgb_signal_

boost::signals2::signal<sig_cb_openni_point_cloud_rgb>* pcl::OpenNIGrabber::point_cloud_rgb_signal_ {}

protected

Definition at line 442 of file openni_grabber.h.

◆ point_cloud_rgba_signal_

boost::signals2::signal<sig_cb_openni_point_cloud_rgba>* pcl::OpenNIGrabber::point_cloud_rgba_signal_ {}

protected

Definition at line 443 of file openni_grabber.h.

◆ point_cloud_signal_

boost::signals2::signal<sig_cb_openni_point_cloud>* pcl::OpenNIGrabber::point_cloud_signal_ {}

protected

Definition at line 440 of file openni_grabber.h.

◆ rgb_array_

boost::shared_array<unsigned char> pcl::OpenNIGrabber::rgb_array_

mutableprotected

Definition at line 470 of file openni_grabber.h.

◆ rgb_array_size_

unsigned pcl::OpenNIGrabber::rgb_array_size_ {0}

mutableprotected

Definition at line 468 of file openni_grabber.h.

◆ rgb_focal_length_x_

double pcl::OpenNIGrabber::rgb_focal_length_x_

protected

The RGB image focal length (fx).

Definition at line 475 of file openni_grabber.h.

◆ rgb_focal_length_y_

double pcl::OpenNIGrabber::rgb_focal_length_y_

protected

The RGB image focal length (fy).

Definition at line 477 of file openni_grabber.h.

◆ rgb_frame_id_

std::string pcl::OpenNIGrabber::rgb_frame_id_

protected

Definition at line 423 of file openni_grabber.h.

◆ rgb_principal_point_x_

double pcl::OpenNIGrabber::rgb_principal_point_x_

protected

The RGB image principal point (cx).

Definition at line 479 of file openni_grabber.h.

◆ rgb_principal_point_y_

double pcl::OpenNIGrabber::rgb_principal_point_y_

protected

The RGB image principal point (cy).

Definition at line 481 of file openni_grabber.h.

◆ rgb_sync_

Synchronizer<openni_wrapper::Image::Ptr, openni_wrapper::DepthImage::Ptr > pcl::OpenNIGrabber::rgb_sync_

protected

Definition at line 417 of file openni_grabber.h.

◆ running_

bool pcl::OpenNIGrabber::running_ {false}

protected

Definition at line 466 of file openni_grabber.h.

◆ sync_required_

bool pcl::OpenNIGrabber::sync_required_ {false}

protected

Definition at line 433 of file openni_grabber.h.

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

pcl/io/openni_grabber.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ sig_cb_openni_depth_image

◆ sig_cb_openni_image

◆ sig_cb_openni_image_depth_image

◆ sig_cb_openni_ir_depth_image

◆ sig_cb_openni_ir_image

◆ sig_cb_openni_point_cloud

◆ sig_cb_openni_point_cloud_i

◆ sig_cb_openni_point_cloud_rgb

◆ sig_cb_openni_point_cloud_rgba

Member Enumeration Documentation

◆ Mode

Constructor & Destructor Documentation

◆ OpenNIGrabber()

◆ ~OpenNIGrabber()

Member Function Documentation

◆ checkDepthStreamRequired()

◆ checkImageAndDepthSynchronizationRequired()

◆ checkImageStreamRequired()

◆ checkIRStreamRequired()

◆ convertShiftToDepth()

◆ convertToXYZIPointCloud()

◆ convertToXYZPointCloud()

◆ convertToXYZRGBPointCloud()

◆ depthCallback()

◆ getAvailableDepthModes()

◆ getAvailableImageModes()

◆ getDepthCameraIntrinsics()

◆ getDepthFocalLength()

◆ getDevice()

◆ getFramesPerSecond()

◆ getName()

◆ getRGBCameraIntrinsics()

◆ getRGBFocalLength()

◆ imageCallback()

◆ imageDepthImageCallback()

◆ irCallback()

◆ irDepthImageCallback()

◆ isRunning()

◆ mapConfigMode2XnMode()

◆ onInit()

◆ setDepthCameraIntrinsics()

◆ setDepthFocalLength() [1/2]

◆ setDepthFocalLength() [2/2]

◆ setRGBCameraIntrinsics()

◆ setRGBFocalLength() [1/2]

◆ setRGBFocalLength() [2/2]

◆ setupDevice()

◆ signalsChanged()

◆ start()

◆ startSynchronization()

◆ stop()

◆ stopSynchronization()

◆ updateModeMaps()

Member Data Documentation

◆ config2xn_map_

◆ depth_buffer_

◆ depth_buffer_size_

◆ depth_callback_handle

◆ depth_focal_length_x_

◆ depth_focal_length_y_

◆ depth_frame_id_

◆ depth_height_

◆ depth_image_signal_

◆ depth_principal_point_x_

◆ depth_principal_point_y_

◆ depth_required_

◆ depth_width_

◆ device_

◆ image_callback_handle

◆ image_depth_image_signal_

◆ image_height_