Point Cloud Library (PCL)  1.11.1-dev
openni_grabber.h
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38 
39 #pragma once
40 
41 #include <pcl/memory.h>
42 #include <pcl/pcl_config.h>
43 #include <pcl/pcl_macros.h>
44 
45 #ifdef HAVE_OPENNI
46 
47 #include <pcl/point_cloud.h>
48 #include <pcl/io/boost.h>
49 #include <pcl/io/grabber.h>
50 #include <pcl/io/openni_camera/openni_driver.h>
51 #include <pcl/io/openni_camera/openni_device_kinect.h>
52 #include <pcl/io/openni_camera/openni_image.h>
53 #include <pcl/io/openni_camera/openni_depth_image.h>
54 #include <pcl/io/openni_camera/openni_ir_image.h>
55 #include <string>
56 #include <pcl/common/synchronizer.h>
57 
58 namespace pcl
59 {
60  struct PointXYZ;
61  struct PointXYZRGB;
62  struct PointXYZRGBA;
63  struct PointXYZI;
64 
65  /** \brief Grabber for OpenNI devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live)
66  * \author Nico Blodow <blodow@cs.tum.edu>, Suat Gedikli <gedikli@willowgarage.com>
67  * \ingroup io
68  */
70  {
71  public:
72  using Ptr = shared_ptr<OpenNIGrabber>;
73  using ConstPtr = shared_ptr<const OpenNIGrabber>;
74 
75  enum Mode
76  {
77  OpenNI_Default_Mode = 0, // This can depend on the device. For now all devices (PSDK, Xtion, Kinect) its VGA@30Hz
78  OpenNI_SXGA_15Hz = 1, // Only supported by the Kinect
79  OpenNI_VGA_30Hz = 2, // Supported by PSDK, Xtion and Kinect
80  OpenNI_VGA_25Hz = 3, // Supportged by PSDK and Xtion
81  OpenNI_QVGA_25Hz = 4, // Supported by PSDK and Xtion
82  OpenNI_QVGA_30Hz = 5, // Supported by PSDK, Xtion and Kinect
83  OpenNI_QVGA_60Hz = 6, // Supported by PSDK and Xtion
84  OpenNI_QQVGA_25Hz = 7, // Not supported -> using software downsampling (only for integer scale factor and only NN)
85  OpenNI_QQVGA_30Hz = 8, // Not supported -> using software downsampling (only for integer scale factor and only NN)
86  OpenNI_QQVGA_60Hz = 9 // Not supported -> using software downsampling (only for integer scale factor and only NN)
87  };
88 
89  //define callback signature typedefs
99 
100  public:
101  /** \brief Constructor
102  * \param[in] device_id ID of the device, which might be a serial number, bus\@address or the index of the device.
103  * \param[in] depth_mode the mode of the depth stream
104  * \param[in] image_mode the mode of the image stream
105  */
106  OpenNIGrabber (const std::string& device_id = "",
107  const Mode& depth_mode = OpenNI_Default_Mode,
108  const Mode& image_mode = OpenNI_Default_Mode);
109 
110  /** \brief virtual Destructor inherited from the Grabber interface. It never throws. */
111  ~OpenNIGrabber () noexcept;
112 
113  /** \brief Start the data acquisition. */
114  void
115  start () override;
116 
117  /** \brief Stop the data acquisition. */
118  void
119  stop () override;
120 
121  /** \brief Check if the data acquisition is still running. */
122  bool
123  isRunning () const override;
124 
125  std::string
126  getName () const override;
127 
128  /** \brief Obtain the number of frames per second (FPS). */
129  float
130  getFramesPerSecond () const override;
131 
132  /** \brief Get a pcl::shared pointer to the openni_wrapper::OpenNIDevice object. */
133  inline openni_wrapper::OpenNIDevice::Ptr
134  getDevice () const;
135 
136  /** \brief Obtain a list of the available depth modes that this device supports. */
137  std::vector<std::pair<int, XnMapOutputMode> >
138  getAvailableDepthModes () const;
139 
140  /** \brief Obtain a list of the available image modes that this device supports. */
141  std::vector<std::pair<int, XnMapOutputMode> >
142  getAvailableImageModes () const;
143 
144  /** \brief Set the RGB camera parameters (fx, fy, cx, cy)
145  * \param[in] rgb_focal_length_x the RGB focal length (fx)
146  * \param[in] rgb_focal_length_y the RGB focal length (fy)
147  * \param[in] rgb_principal_point_x the RGB principal point (cx)
148  * \param[in] rgb_principal_point_y the RGB principal point (cy)
149  * Setting the parameters to non-finite values (e.g., NaN, Inf) invalidates them
150  * and the grabber will use the default values from the camera instead.
151  */
152  inline void
153  setRGBCameraIntrinsics (const double rgb_focal_length_x,
154  const double rgb_focal_length_y,
155  const double rgb_principal_point_x,
156  const double rgb_principal_point_y)
157  {
158  rgb_focal_length_x_ = rgb_focal_length_x;
159  rgb_focal_length_y_ = rgb_focal_length_y;
160  rgb_principal_point_x_ = rgb_principal_point_x;
161  rgb_principal_point_y_ = rgb_principal_point_y;
162  }
163 
164  /** \brief Get the RGB camera parameters (fx, fy, cx, cy)
165  * \param[out] rgb_focal_length_x the RGB focal length (fx)
166  * \param[out] rgb_focal_length_y the RGB focal length (fy)
167  * \param[out] rgb_principal_point_x the RGB principal point (cx)
168  * \param[out] rgb_principal_point_y the RGB principal point (cy)
169  */
170  inline void
171  getRGBCameraIntrinsics (double &rgb_focal_length_x,
172  double &rgb_focal_length_y,
173  double &rgb_principal_point_x,
174  double &rgb_principal_point_y) const
175  {
176  rgb_focal_length_x = rgb_focal_length_x_;
177  rgb_focal_length_y = rgb_focal_length_y_;
178  rgb_principal_point_x = rgb_principal_point_x_;
179  rgb_principal_point_y = rgb_principal_point_y_;
180  }
181 
182 
183  /** \brief Set the RGB image focal length (fx = fy).
184  * \param[in] rgb_focal_length the RGB focal length (assumes fx = fy)
185  * Setting the parameter to a non-finite value (e.g., NaN, Inf) invalidates it
186  * and the grabber will use the default values from the camera instead.
187  * These parameters will be used for XYZRGBA clouds.
188  */
189  inline void
190  setRGBFocalLength (const double rgb_focal_length)
191  {
192  rgb_focal_length_x_ = rgb_focal_length_y_ = rgb_focal_length;
193  }
194 
195  /** \brief Set the RGB image focal length
196  * \param[in] rgb_focal_length_x the RGB focal length (fx)
197  * \param[in] rgb_focal_length_y the RGB focal length (fy)
198  * Setting the parameters to non-finite values (e.g., NaN, Inf) invalidates them
199  * and the grabber will use the default values from the camera instead.
200  * These parameters will be used for XYZRGBA clouds.
201  */
202  inline void
203  setRGBFocalLength (const double rgb_focal_length_x, const double rgb_focal_length_y)
204  {
205  rgb_focal_length_x_ = rgb_focal_length_x;
206  rgb_focal_length_y_ = rgb_focal_length_y;
207  }
208 
209  /** \brief Return the RGB focal length parameters (fx, fy)
210  * \param[out] rgb_focal_length_x the RGB focal length (fx)
211  * \param[out] rgb_focal_length_y the RGB focal length (fy)
212  */
213  inline void
214  getRGBFocalLength (double &rgb_focal_length_x, double &rgb_focal_length_y) const
215  {
216  rgb_focal_length_x = rgb_focal_length_x_;
217  rgb_focal_length_y = rgb_focal_length_y_;
218  }
219 
220  /** \brief Set the Depth camera parameters (fx, fy, cx, cy)
221  * \param[in] depth_focal_length_x the Depth focal length (fx)
222  * \param[in] depth_focal_length_y the Depth focal length (fy)
223  * \param[in] depth_principal_point_x the Depth principal point (cx)
224  * \param[in] depth_principal_point_y the Depth principal point (cy)
225  * Setting the parameters to non-finite values (e.g., NaN, Inf) invalidates them
226  * and the grabber will use the default values from the camera instead.
227  */
228  inline void
229  setDepthCameraIntrinsics (const double depth_focal_length_x,
230  const double depth_focal_length_y,
231  const double depth_principal_point_x,
232  const double depth_principal_point_y)
233  {
234  depth_focal_length_x_ = depth_focal_length_x;
235  depth_focal_length_y_ = depth_focal_length_y;
236  depth_principal_point_x_ = depth_principal_point_x;
237  depth_principal_point_y_ = depth_principal_point_y;
238  }
239 
240  /** \brief Get the Depth camera parameters (fx, fy, cx, cy)
241  * \param[out] depth_focal_length_x the Depth focal length (fx)
242  * \param[out] depth_focal_length_y the Depth focal length (fy)
243  * \param[out] depth_principal_point_x the Depth principal point (cx)
244  * \param[out] depth_principal_point_y the Depth principal point (cy)
245  */
246  inline void
247  getDepthCameraIntrinsics (double &depth_focal_length_x,
248  double &depth_focal_length_y,
249  double &depth_principal_point_x,
250  double &depth_principal_point_y) const
251  {
252  depth_focal_length_x = depth_focal_length_x_;
253  depth_focal_length_y = depth_focal_length_y_;
254  depth_principal_point_x = depth_principal_point_x_;
255  depth_principal_point_y = depth_principal_point_y_;
256  }
257 
258  /** \brief Set the Depth image focal length (fx = fy).
259  * \param[in] depth_focal_length the Depth focal length (assumes fx = fy)
260  * Setting the parameter to a non-finite value (e.g., NaN, Inf) invalidates it
261  * and the grabber will use the default values from the camera instead.
262  */
263  inline void
264  setDepthFocalLength (const double depth_focal_length)
265  {
266  depth_focal_length_x_ = depth_focal_length_y_ = depth_focal_length;
267  }
268 
269 
270  /** \brief Set the Depth image focal length
271  * \param[in] depth_focal_length_x the Depth focal length (fx)
272  * \param[in] depth_focal_length_y the Depth focal length (fy)
273  * Setting the parameter to non-finite values (e.g., NaN, Inf) invalidates them
274  * and the grabber will use the default values from the camera instead.
275  */
276  inline void
277  setDepthFocalLength (const double depth_focal_length_x, const double depth_focal_length_y)
278  {
279  depth_focal_length_x_ = depth_focal_length_x;
280  depth_focal_length_y_ = depth_focal_length_y;
281  }
282 
283  /** \brief Return the Depth focal length parameters (fx, fy)
284  * \param[out] depth_focal_length_x the Depth focal length (fx)
285  * \param[out] depth_focal_length_y the Depth focal length (fy)
286  */
287  inline void
288  getDepthFocalLength (double &depth_focal_length_x, double &depth_focal_length_y) const
289  {
290  depth_focal_length_x = depth_focal_length_x_;
291  depth_focal_length_y = depth_focal_length_y_;
292  }
293 
294  /** \brief Convert vector of raw shift values to depth values
295  * \param[in] shift_data_ptr input shift data
296  * \param[out] depth_data_ptr generated depth data
297  * \param[in] size of shift and depth buffer
298  */
299  inline void
301  const std::uint16_t* shift_data_ptr,
302  std::uint16_t* depth_data_ptr,
303  std::size_t size) const
304  {
305  // get openni device instance
306  auto openni_device = this->getDevice ();
307 
308  const std::uint16_t* shift_data_it = shift_data_ptr;
309  std::uint16_t* depth_data_it = depth_data_ptr;
310 
311  // shift-to-depth lookup
312  for (std::size_t i=0; i<size; ++i)
313  {
314  *depth_data_it = openni_device->shiftToDepth(*shift_data_it);
315 
316  shift_data_it++;
317  depth_data_it++;
318  }
319 
320  }
321 
322 
323  protected:
324  /** \brief On initialization processing. */
325  void
326  onInit (const std::string& device_id, const Mode& depth_mode, const Mode& image_mode);
327 
328  /** \brief Sets up an OpenNI device. */
329  void
330  setupDevice (const std::string& device_id, const Mode& depth_mode, const Mode& image_mode);
331 
332  /** \brief Update mode maps. */
333  void
334  updateModeMaps ();
335 
336  /** \brief Start synchronization. */
337  void
338  startSynchronization ();
339 
340  /** \brief Stop synchronization. */
341  void
342  stopSynchronization ();
343 
344  /** \brief Map config modes. */
345  bool
346  mapConfigMode2XnMode (int mode, XnMapOutputMode &xnmode) const;
347 
348  // callback methods
349  /** \brief RGB image callback. */
350  virtual void
351  imageCallback (openni_wrapper::Image::Ptr image, void* cookie);
352 
353  /** \brief Depth image callback. */
354  virtual void
355  depthCallback (openni_wrapper::DepthImage::Ptr depth_image, void* cookie);
356 
357  /** \brief IR image callback. */
358  virtual void
359  irCallback (openni_wrapper::IRImage::Ptr ir_image, void* cookie);
360 
361  /** \brief RGB + Depth image callback. */
362  virtual void
363  imageDepthImageCallback (const openni_wrapper::Image::Ptr &image,
364  const openni_wrapper::DepthImage::Ptr &depth_image);
365 
366  /** \brief IR + Depth image callback. */
367  virtual void
368  irDepthImageCallback (const openni_wrapper::IRImage::Ptr &image,
369  const openni_wrapper::DepthImage::Ptr &depth_image);
370 
371  /** \brief Process changed signals. */
372  void
373  signalsChanged () override;
374 
375  // helper methods
376 
377  /** \brief Check if the RGB and Depth images are required to be synchronized or not. */
378  virtual void
379  checkImageAndDepthSynchronizationRequired ();
380 
381  /** \brief Check if the RGB image stream is required or not. */
382  virtual void
383  checkImageStreamRequired ();
384 
385  /** \brief Check if the depth stream is required or not. */
386  virtual void
387  checkDepthStreamRequired ();
388 
389  /** \brief Check if the IR image stream is required or not. */
390  virtual void
391  checkIRStreamRequired ();
392 
393 
394  /** \brief Convert a Depth image to a pcl::PointCloud<pcl::PointXYZ>
395  * \param[in] depth the depth image to convert
396  */
398  convertToXYZPointCloud (const openni_wrapper::DepthImage::Ptr &depth) const;
399 
400  /** \brief Convert a Depth + RGB image pair to a pcl::PointCloud<PointT>
401  * \param[in] image the RGB image to convert
402  * \param[in] depth_image the depth image to convert
403  */
404  template <typename PointT> typename pcl::PointCloud<PointT>::Ptr
405  convertToXYZRGBPointCloud (const openni_wrapper::Image::Ptr &image,
406  const openni_wrapper::DepthImage::Ptr &depth_image) const;
407 
408  /** \brief Convert a Depth + Intensity image pair to a pcl::PointCloud<pcl::PointXYZI>
409  * \param[in] image the IR image to convert
410  * \param[in] depth_image the depth image to convert
411  */
413  convertToXYZIPointCloud (const openni_wrapper::IRImage::Ptr &image,
414  const openni_wrapper::DepthImage::Ptr &depth_image) const;
415 
416 
419 
420  /** \brief The actual openni device. */
422 
423  std::string rgb_frame_id_;
424  std::string depth_frame_id_;
425  unsigned image_width_;
426  unsigned image_height_;
427  unsigned depth_width_;
428  unsigned depth_height_;
429 
434 
435  boost::signals2::signal<sig_cb_openni_image>* image_signal_;
436  boost::signals2::signal<sig_cb_openni_depth_image>* depth_image_signal_;
437  boost::signals2::signal<sig_cb_openni_ir_image>* ir_image_signal_;
438  boost::signals2::signal<sig_cb_openni_image_depth_image>* image_depth_image_signal_;
439  boost::signals2::signal<sig_cb_openni_ir_depth_image>* ir_depth_image_signal_;
440  boost::signals2::signal<sig_cb_openni_point_cloud>* point_cloud_signal_;
441  boost::signals2::signal<sig_cb_openni_point_cloud_i>* point_cloud_i_signal_;
442  boost::signals2::signal<sig_cb_openni_point_cloud_rgb>* point_cloud_rgb_signal_;
443  boost::signals2::signal<sig_cb_openni_point_cloud_rgba>* point_cloud_rgba_signal_;
444 
445  struct modeComp
446  {
447 
448  bool operator () (const XnMapOutputMode& mode1, const XnMapOutputMode & mode2) const
449  {
450  if (mode1.nXRes < mode2.nXRes)
451  return true;
452  if (mode1.nXRes > mode2.nXRes)
453  return false;
454  if (mode1.nYRes < mode2.nYRes)
455  return true;
456  if (mode1.nYRes > mode2.nYRes)
457  return false;
458  return (mode1.nFPS < mode2.nFPS);
459  }
460  } ;
461  std::map<int, XnMapOutputMode> config2xn_map_;
462 
466  bool running_;
467 
468  mutable unsigned rgb_array_size_;
469  mutable unsigned depth_buffer_size_;
470  mutable boost::shared_array<unsigned char> rgb_array_;
471  mutable boost::shared_array<unsigned short> depth_buffer_;
472  mutable boost::shared_array<unsigned short> ir_buffer_;
473 
474  /** \brief The RGB image focal length (fx). */
476  /** \brief The RGB image focal length (fy). */
478  /** \brief The RGB image principal point (cx). */
480  /** \brief The RGB image principal point (cy). */
482  /** \brief The depth image focal length (fx). */
484  /** \brief The depth image focal length (fy). */
486  /** \brief The depth image principal point (cx). */
488  /** \brief The depth image principal point (cy). */
490 
491  public:
493  };
494 
497  {
498  return device_;
499  }
500 
501 } // namespace pcl
502 #endif // HAVE_OPENNI
pcl::OpenNIGrabber::config2xn_map_
std::map< int, XnMapOutputMode > config2xn_map_
Definition: openni_grabber.h:461
pcl::OpenNIGrabber::setRGBFocalLength
void setRGBFocalLength(const double rgb_focal_length)
Set the RGB image focal length (fx = fy).
Definition: openni_grabber.h:190
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
pcl::OpenNIGrabber::ir_required_
bool ir_required_
Definition: openni_grabber.h:432
pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgb
void(const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &) sig_cb_openni_point_cloud_rgb
Definition: openni_grabber.h:96
pcl::OpenNIGrabber::setDepthCameraIntrinsics
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)
Definition: openni_grabber.h:229
pcl::OpenNIGrabber::depth_buffer_
boost::shared_array< unsigned short > depth_buffer_
Definition: openni_grabber.h:471
pcl::OpenNIGrabber::point_cloud_rgb_signal_
boost::signals2::signal< sig_cb_openni_point_cloud_rgb > * point_cloud_rgb_signal_
Definition: openni_grabber.h:442
pcl::Synchronizer< openni_wrapper::Image::Ptr, openni_wrapper::DepthImage::Ptr >
openni_wrapper::OpenNIDevice::CallbackHandle
unsigned CallbackHandle
Definition: openni_device.h:86
pcl::OpenNIGrabber::rgb_focal_length_y_
double rgb_focal_length_y_
The RGB image focal length (fy).
Definition: openni_grabber.h:477
pcl::OpenNIGrabber::getDepthCameraIntrinsics
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)
Definition: openni_grabber.h:247
pcl::OpenNIGrabber::depth_focal_length_x_
double depth_focal_length_x_
The depth image focal length (fx).
Definition: openni_grabber.h:483
pcl::OpenNIGrabber::point_cloud_rgba_signal_
boost::signals2::signal< sig_cb_openni_point_cloud_rgba > * point_cloud_rgba_signal_
Definition: openni_grabber.h:443
pcl::OpenNIGrabber::rgb_focal_length_x_
double rgb_focal_length_x_
The RGB image focal length (fx).
Definition: openni_grabber.h:475
pcl::OpenNIGrabber::getDepthFocalLength
void getDepthFocalLength(double &depth_focal_length_x, double &depth_focal_length_y) const
Return the Depth focal length parameters (fx, fy)
Definition: openni_grabber.h:288
pcl::OpenNIGrabber::depth_image_signal_
boost::signals2::signal< sig_cb_openni_depth_image > * depth_image_signal_
Definition: openni_grabber.h:436
openni_wrapper::OpenNIDevice::Ptr
pcl::shared_ptr< OpenNIDevice > Ptr
Definition: openni_device.h:80
pcl::OpenNIGrabber::Mode
Mode
Definition: openni_grabber.h:75
pcl::OpenNIGrabber::depth_required_
bool depth_required_
Definition: openni_grabber.h:431
openni_wrapper
Definition: openni_depth_image.h:51
pcl::OpenNIGrabber::sig_cb_openni_point_cloud_i
void(const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &) sig_cb_openni_point_cloud_i
Definition: openni_grabber.h:98
pcl::Grabber
Grabber interface for PCL 1.x device drivers.
Definition: grabber.h:59
pcl::OpenNIGrabber::ConstPtr
shared_ptr< const OpenNIGrabber > ConstPtr
Definition: openni_grabber.h:73
pcl::OpenNIGrabber::image_signal_
boost::signals2::signal< sig_cb_openni_image > * image_signal_
Definition: openni_grabber.h:435
openni_wrapper::Image::Ptr
pcl::shared_ptr< Image > Ptr
Definition: openni_image.h:61
pcl::OpenNIGrabber::sig_cb_openni_ir_image
void(const openni_wrapper::IRImage::Ptr &) sig_cb_openni_ir_image
Definition: openni_grabber.h:92
pcl::OpenNIGrabber::point_cloud_signal_
boost::signals2::signal< sig_cb_openni_point_cloud > * point_cloud_signal_
Definition: openni_grabber.h:440
pcl::OpenNIGrabber::ir_sync_
Synchronizer< openni_wrapper::IRImage::Ptr, openni_wrapper::DepthImage::Ptr > ir_sync_
Definition: openni_grabber.h:418
pcl::OpenNIGrabber::convertShiftToDepth
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.
Definition: openni_grabber.h:300
pcl::OpenNIGrabber::sig_cb_openni_image
void(const openni_wrapper::Image::Ptr &) sig_cb_openni_image
Definition: openni_grabber.h:90
pcl::OpenNIGrabber::depth_frame_id_
std::string depth_frame_id_
Definition: openni_grabber.h:424
pcl::OpenNIGrabber::image_required_
bool image_required_
Definition: openni_grabber.h:430
pcl::OpenNIGrabber::depth_height_
unsigned depth_height_
Definition: openni_grabber.h:428
pcl::OpenNIGrabber::image_width_
unsigned image_width_
Definition: openni_grabber.h:425
pcl::OpenNIGrabber::sig_cb_openni_depth_image
void(const openni_wrapper::DepthImage::Ptr &) sig_cb_openni_depth_image
Definition: openni_grabber.h:91
pcl::OpenNIGrabber::getRGBFocalLength
void getRGBFocalLength(double &rgb_focal_length_x, double &rgb_focal_length_y) const
Return the RGB focal length parameters (fx, fy)
Definition: openni_grabber.h:214
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
pcl::OpenNIGrabber::image_height_
unsigned image_height_
Definition: openni_grabber.h:426
pcl::OpenNIGrabber::depth_focal_length_y_
double depth_focal_length_y_
The depth image focal length (fy).
Definition: openni_grabber.h:485
pcl::OpenNIGrabber::depth_principal_point_x_
double depth_principal_point_x_
The depth image principal point (cx).
Definition: openni_grabber.h:487
pcl::OpenNIGrabber::point_cloud_i_signal_
boost::signals2::signal< sig_cb_openni_point_cloud_i > * point_cloud_i_signal_
Definition: openni_grabber.h:441
pcl::OpenNIGrabber::setDepthFocalLength
void setDepthFocalLength(const double depth_focal_length)
Set the Depth image focal length (fx = fy).
Definition: openni_grabber.h:264
pcl::OpenNIGrabber::getRGBCameraIntrinsics
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)
Definition: openni_grabber.h:171
pcl::OpenNIGrabber::sync_required_
bool sync_required_
Definition: openni_grabber.h:433
pcl::OpenNIGrabber::rgb_principal_point_x_
double rgb_principal_point_x_
The RGB image principal point (cx).
Definition: openni_grabber.h:479
pcl::OpenNIGrabber::ir_depth_image_signal_
boost::signals2::signal< sig_cb_openni_ir_depth_image > * ir_depth_image_signal_
Definition: openni_grabber.h:439
pcl::OpenNIGrabber::modeComp
Definition: openni_grabber.h:445
pcl::device::PointXYZRGB
float4 PointXYZRGB
Definition: internal.hpp:60
pcl::OpenNIGrabber::depth_width_
unsigned depth_width_
Definition: openni_grabber.h:427
pcl::OpenNIGrabber::setDepthFocalLength
void setDepthFocalLength(const double depth_focal_length_x, const double depth_focal_length_y)
Set the Depth image focal length.
Definition: openni_grabber.h:277
pcl::OpenNIGrabber::ir_image_signal_
boost::signals2::signal< sig_cb_openni_ir_image > * ir_image_signal_
Definition: openni_grabber.h:437
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:406
pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba
void(const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &) sig_cb_openni_point_cloud_rgba
Definition: openni_grabber.h:97
openni_wrapper::IRImage::Ptr
pcl::shared_ptr< IRImage > Ptr
Definition: openni_ir_image.h:54
openni_wrapper::DepthImage::Ptr
pcl::shared_ptr< DepthImage > Ptr
Definition: openni_depth_image.h:59
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:407
pcl::OpenNIGrabber::ir_buffer_
boost::shared_array< unsigned short > ir_buffer_
Definition: openni_grabber.h:472
pcl::OpenNIGrabber::device_
openni_wrapper::OpenNIDevice::Ptr device_
The actual openni device.
Definition: openni_grabber.h:421
pcl::OpenNIGrabber::Ptr
shared_ptr< OpenNIGrabber > Ptr
Definition: openni_grabber.h:72
pcl::OpenNIGrabber
Grabber for OpenNI devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live)
Definition: openni_grabber.h:69
pcl::OpenNIGrabber::depth_principal_point_y_
double depth_principal_point_y_
The depth image principal point (cy).
Definition: openni_grabber.h:489
pcl::OpenNIGrabber::sig_cb_openni_point_cloud
void(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &) sig_cb_openni_point_cloud
Definition: openni_grabber.h:95
pcl::OpenNIGrabber::depth_callback_handle
openni_wrapper::OpenNIDevice::CallbackHandle depth_callback_handle
Definition: openni_grabber.h:463
pcl::OpenNIGrabber::running_
bool running_
Definition: openni_grabber.h:466
pcl::OpenNIGrabber::rgb_sync_
Synchronizer< openni_wrapper::Image::Ptr, openni_wrapper::DepthImage::Ptr > rgb_sync_
Definition: openni_grabber.h:417
pcl::OpenNIGrabber::rgb_array_
boost::shared_array< unsigned char > rgb_array_
Definition: openni_grabber.h:470
pcl::OpenNIGrabber::setRGBFocalLength
void setRGBFocalLength(const double rgb_focal_length_x, const double rgb_focal_length_y)
Set the RGB image focal length.
Definition: openni_grabber.h:203
pcl::OpenNIGrabber::rgb_array_size_
unsigned rgb_array_size_
Definition: openni_grabber.h:468
pcl::OpenNIGrabber::image_callback_handle
openni_wrapper::OpenNIDevice::CallbackHandle image_callback_handle
Definition: openni_grabber.h:464
pcl::OpenNIGrabber::rgb_principal_point_y_
double rgb_principal_point_y_
The RGB image principal point (cy).
Definition: openni_grabber.h:481
pcl::OpenNIGrabber::getDevice
openni_wrapper::OpenNIDevice::Ptr getDevice() const
Get a pcl::shared pointer to the openni_wrapper::OpenNIDevice object.
Definition: openni_grabber.h:496
pcl::OpenNIGrabber::image_depth_image_signal_
boost::signals2::signal< sig_cb_openni_image_depth_image > * image_depth_image_signal_
Definition: openni_grabber.h:438
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl::OpenNIGrabber::depth_buffer_size_
unsigned depth_buffer_size_
Definition: openni_grabber.h:469
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:323
pcl::OpenNIGrabber::rgb_frame_id_
std::string rgb_frame_id_
Definition: openni_grabber.h:423
pcl::OpenNIGrabber::ir_callback_handle
openni_wrapper::OpenNIDevice::CallbackHandle ir_callback_handle
Definition: openni_grabber.h:465
pcl::OpenNIGrabber::sig_cb_openni_image_depth_image
void(const openni_wrapper::Image::Ptr &, const openni_wrapper::DepthImage::Ptr &, float) sig_cb_openni_image_depth_image
Definition: openni_grabber.h:93
pcl::OpenNIGrabber::sig_cb_openni_ir_depth_image
void(const openni_wrapper::IRImage::Ptr &, const openni_wrapper::DepthImage::Ptr &, float) sig_cb_openni_ir_depth_image
Definition: openni_grabber.h:94