pcl::io::openni2::OpenNI2Device Class Reference

#include <pcl/io/openni2/openni2_device.h>

Public Types
using	Ptr = shared_ptr<OpenNI2Device>
using	ConstPtr = shared_ptr<const OpenNI2Device>
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
using	StreamCallbackFunction = std::function<void(openni::VideoStream& stream)>

Public Member Functions
	OpenNI2Device (const std::string &device_URI)
virtual	~OpenNI2Device ()
const std::string	getUri () const
const std::string	getVendor () const
const std::string	getName () const
std::uint16_t	getUsbVendorId () const
std::uint16_t	getUsbProductId () const
const std::string	getStringID () const
bool	isValid () const
bool	hasIRSensor () const
bool	hasColorSensor () const
bool	hasDepthSensor () const
void	startIRStream ()
void	startColorStream ()
void	startDepthStream ()
void	stopAllStreams ()
void	stopIRStream ()
void	stopColorStream ()
void	stopDepthStream ()
bool	isIRStreamStarted ()
bool	isColorStreamStarted ()
bool	isDepthStreamStarted ()
bool	isImageRegistrationModeSupported () const
void	setImageRegistrationMode (bool enabled)
bool	isDepthRegistered () const
const OpenNI2VideoMode	getIRVideoMode ()
const OpenNI2VideoMode	getColorVideoMode ()
const OpenNI2VideoMode	getDepthVideoMode ()
const std::vector< OpenNI2VideoMode > &	getSupportedIRVideoModes () const
const std::vector< OpenNI2VideoMode > &	getSupportedColorVideoModes () const
const std::vector< OpenNI2VideoMode > &	getSupportedDepthVideoModes () const
bool	isIRVideoModeSupported (const OpenNI2VideoMode &video_mode) const
bool	isColorVideoModeSupported (const OpenNI2VideoMode &video_mode) const
bool	isDepthVideoModeSupported (const OpenNI2VideoMode &video_mode) const
bool	findCompatibleIRMode (const OpenNI2VideoMode &requested_mode, OpenNI2VideoMode &actual_mode) const
bool	findCompatibleColorMode (const OpenNI2VideoMode &requested_mode, OpenNI2VideoMode &actual_mode) const
bool	findCompatibleDepthMode (const OpenNI2VideoMode &requested_mode, OpenNI2VideoMode &actual_mode) const
void	setIRVideoMode (const OpenNI2VideoMode &video_mode)
void	setColorVideoMode (const OpenNI2VideoMode &video_mode)
void	setDepthVideoMode (const OpenNI2VideoMode &video_mode)
OpenNI2VideoMode	getDefaultIRMode () const
OpenNI2VideoMode	getDefaultColorMode () const
OpenNI2VideoMode	getDefaultDepthMode () const
float	getIRFocalLength () const
float	getColorFocalLength () const
float	getDepthFocalLength () const
float	getBaseline ()
std::uint64_t	getShadowValue ()
void	setAutoExposure (bool enable)
void	setAutoWhiteBalance (bool enable)
bool	isSynchronized ()
bool	isSynchronizationSupported ()
bool	isFile ()
void	setSynchronization (bool enableSync)
bool	getAutoExposure () const
bool	getAutoWhiteBalance () const
void	setUseDeviceTimer (bool enable)
int	getDepthFrameCount ()
	Get absolute number of depth frames in the current stream.
int	getColorFrameCount ()
	Get absolute number of color frames in the current stream.
int	getIRFrameCount ()
	Get absolute number of ir frames in the current stream.
bool	setPlaybackSpeed (double speed)
	Set the playback speed if the device is an recorded stream.
void	setColorCallback (StreamCallbackFunction color_callback)
void	setDepthCallback (StreamCallbackFunction depth_callback)
void	setIRCallback (StreamCallbackFunction ir_callback)

Protected Member Functions
void	shutdown ()
std::shared_ptr< openni::VideoStream >	getIRVideoStream () const
std::shared_ptr< openni::VideoStream >	getColorVideoStream () const
std::shared_ptr< openni::VideoStream >	getDepthVideoStream () const
void	processColorFrame (openni::VideoStream &stream)
void	processDepthFrame (openni::VideoStream &stream)
void	processIRFrame (openni::VideoStream &stream)
bool	findCompatibleVideoMode (const std::vector< OpenNI2VideoMode > &supportedModes, const OpenNI2VideoMode &output_mode, OpenNI2VideoMode &mode) const
bool	resizingSupported (std::size_t input_width, std::size_t input_height, std::size_t output_width, std::size_t output_height) const

Protected Attributes
std::shared_ptr< openni::Device >	openni_device_
std::shared_ptr< openni::DeviceInfo >	device_info_
std::shared_ptr< OpenNI2FrameListener >	ir_frame_listener
std::shared_ptr< OpenNI2FrameListener >	color_frame_listener
std::shared_ptr< OpenNI2FrameListener >	depth_frame_listener
std::shared_ptr< openni::VideoStream >	ir_video_stream_
std::shared_ptr< openni::VideoStream >	color_video_stream_
std::shared_ptr< openni::VideoStream >	depth_video_stream_
std::vector< OpenNI2VideoMode >	ir_video_modes_
std::vector< OpenNI2VideoMode >	color_video_modes_
std::vector< OpenNI2VideoMode >	depth_video_modes_
bool	ir_video_started_ {false}
bool	color_video_started_ {false}
bool	depth_video_started_ {false}
float	baseline_ {0.0f}
	distance between the projector and the IR camera in meters
std::uint64_t	shadow_value_ {0}
	the value for shadow (occluded pixels)
std::uint64_t	no_sample_value_ {0}
	the value for pixels without a valid disparity measurement

Detailed Description

Definition at line 73 of file openni2_device.h.

Member Typedef Documentation

CallbackHandle

using pcl::io::openni2::OpenNI2Device::CallbackHandle = unsigned

Definition at line 82 of file openni2_device.h.

ConstPtr

using pcl::io::openni2::OpenNI2Device::ConstPtr = shared_ptr<const OpenNI2Device>

Definition at line 77 of file openni2_device.h.

DepthImageCallbackFunction

using pcl::io::openni2::OpenNI2Device::DepthImageCallbackFunction = std::function<void(DepthImage::Ptr, void* cookie) >

Definition at line 80 of file openni2_device.h.

ImageCallbackFunction

using pcl::io::openni2::OpenNI2Device::ImageCallbackFunction = std::function<void(Image::Ptr, void* cookie) >

Definition at line 79 of file openni2_device.h.

IRImageCallbackFunction

using pcl::io::openni2::OpenNI2Device::IRImageCallbackFunction = std::function<void(IRImage::Ptr, void* cookie) >

Definition at line 81 of file openni2_device.h.

Ptr

using pcl::io::openni2::OpenNI2Device::Ptr = shared_ptr<OpenNI2Device>

Definition at line 76 of file openni2_device.h.

StreamCallbackFunction

using pcl::io::openni2::OpenNI2Device::StreamCallbackFunction = std::function<void(openni::VideoStream& stream)>

Definition at line 84 of file openni2_device.h.

Constructor & Destructor Documentation

OpenNI2Device()

pcl::io::openni2::OpenNI2Device::OpenNI2Device

(

const std::string &

device_URI

)

~OpenNI2Device()

virtual pcl::io::openni2::OpenNI2Device::~OpenNI2Device ( )

virtual

Member Function Documentation

findCompatibleColorMode()

bool pcl::io::openni2::OpenNI2Device::findCompatibleColorMode	(	const OpenNI2VideoMode &	requested_mode,
		OpenNI2VideoMode &	actual_mode ) const

findCompatibleDepthMode()

bool pcl::io::openni2::OpenNI2Device::findCompatibleDepthMode	(	const OpenNI2VideoMode &	requested_mode,
		OpenNI2VideoMode &	actual_mode ) const

findCompatibleIRMode()

bool pcl::io::openni2::OpenNI2Device::findCompatibleIRMode	(	const OpenNI2VideoMode &	requested_mode,
		OpenNI2VideoMode &	actual_mode ) const

findCompatibleVideoMode()

bool pcl::io::openni2::OpenNI2Device::findCompatibleVideoMode ( const std::vector< OpenNI2VideoMode > & supportedModes, const OpenNI2VideoMode & output_mode, OpenNI2VideoMode & mode ) const

protected

getAutoExposure()

bool pcl::io::openni2::OpenNI2Device::getAutoExposure

(

)

const

getAutoWhiteBalance()

bool pcl::io::openni2::OpenNI2Device::getAutoWhiteBalance

(

)

const

getBaseline()

float pcl::io::openni2::OpenNI2Device::getBaseline

(

)

getColorFocalLength()

float pcl::io::openni2::OpenNI2Device::getColorFocalLength

(

)

const

getColorFrameCount()

int pcl::io::openni2::OpenNI2Device::getColorFrameCount

(

)

Get absolute number of color frames in the current stream.

This function returns 0 if the current device is not a file stream or if the current mode has no color stream.

getColorVideoMode()

const OpenNI2VideoMode pcl::io::openni2::OpenNI2Device::getColorVideoMode

(

)

getColorVideoStream()

std::shared_ptr< openni::VideoStream > pcl::io::openni2::OpenNI2Device::getColorVideoStream ( ) const

protected

getDefaultColorMode()

OpenNI2VideoMode pcl::io::openni2::OpenNI2Device::getDefaultColorMode

(

)

const

getDefaultDepthMode()

OpenNI2VideoMode pcl::io::openni2::OpenNI2Device::getDefaultDepthMode

(

)

const

getDefaultIRMode()

OpenNI2VideoMode pcl::io::openni2::OpenNI2Device::getDefaultIRMode

(

)

const

getDepthFocalLength()

float pcl::io::openni2::OpenNI2Device::getDepthFocalLength

(

)

const

getDepthFrameCount()

int pcl::io::openni2::OpenNI2Device::getDepthFrameCount

(

)

Get absolute number of depth frames in the current stream.

This function returns 0 if the current device is not a file stream or if the current mode has no depth stream.

getDepthVideoMode()

const OpenNI2VideoMode pcl::io::openni2::OpenNI2Device::getDepthVideoMode

(

)

getDepthVideoStream()

std::shared_ptr< openni::VideoStream > pcl::io::openni2::OpenNI2Device::getDepthVideoStream ( ) const

protected

getIRFocalLength()

float pcl::io::openni2::OpenNI2Device::getIRFocalLength

(

)

const

getIRFrameCount()

int pcl::io::openni2::OpenNI2Device::getIRFrameCount

(

)

Get absolute number of ir frames in the current stream.

This function returns 0 if the current device is not a file stream or if the current mode has no ir stream.

getIRVideoMode()

const OpenNI2VideoMode pcl::io::openni2::OpenNI2Device::getIRVideoMode

(

)

getIRVideoStream()

std::shared_ptr< openni::VideoStream > pcl::io::openni2::OpenNI2Device::getIRVideoStream ( ) const

protected

getName()

const std::string pcl::io::openni2::OpenNI2Device::getName

(

)

const

getShadowValue()

std::uint64_t pcl::io::openni2::OpenNI2Device::getShadowValue

(

)

getStringID()

const std::string pcl::io::openni2::OpenNI2Device::getStringID

(

)

const

getSupportedColorVideoModes()

const std::vector< OpenNI2VideoMode > & pcl::io::openni2::OpenNI2Device::getSupportedColorVideoModes

(

)

const

getSupportedDepthVideoModes()

const std::vector< OpenNI2VideoMode > & pcl::io::openni2::OpenNI2Device::getSupportedDepthVideoModes

(

)

const

getSupportedIRVideoModes()

const std::vector< OpenNI2VideoMode > & pcl::io::openni2::OpenNI2Device::getSupportedIRVideoModes

(

)

const

getUri()

const std::string pcl::io::openni2::OpenNI2Device::getUri

(

)

const

getUsbProductId()

std::uint16_t pcl::io::openni2::OpenNI2Device::getUsbProductId

(

)

const

getUsbVendorId()

std::uint16_t pcl::io::openni2::OpenNI2Device::getUsbVendorId

(

)

const

getVendor()

const std::string pcl::io::openni2::OpenNI2Device::getVendor

(

)

const

hasColorSensor()

bool pcl::io::openni2::OpenNI2Device::hasColorSensor

(

)

const

hasDepthSensor()

bool pcl::io::openni2::OpenNI2Device::hasDepthSensor

(

)

const

hasIRSensor()

bool pcl::io::openni2::OpenNI2Device::hasIRSensor

(

)

const

isColorStreamStarted()

bool pcl::io::openni2::OpenNI2Device::isColorStreamStarted

(

)

isColorVideoModeSupported()

bool pcl::io::openni2::OpenNI2Device::isColorVideoModeSupported

(

const OpenNI2VideoMode &

video_mode

)

const

isDepthRegistered()

bool pcl::io::openni2::OpenNI2Device::isDepthRegistered

(

)

const

isDepthStreamStarted()

bool pcl::io::openni2::OpenNI2Device::isDepthStreamStarted

(

)

isDepthVideoModeSupported()

bool pcl::io::openni2::OpenNI2Device::isDepthVideoModeSupported

(

const OpenNI2VideoMode &

video_mode

)

const

isFile()

bool pcl::io::openni2::OpenNI2Device::isFile ( )

inline

Definition at line 219 of file openni2_device.h.

References openni_device_.

isImageRegistrationModeSupported()

bool pcl::io::openni2::OpenNI2Device::isImageRegistrationModeSupported

(

)

const

isIRStreamStarted()

bool pcl::io::openni2::OpenNI2Device::isIRStreamStarted

(

)

isIRVideoModeSupported()

bool pcl::io::openni2::OpenNI2Device::isIRVideoModeSupported

(

const OpenNI2VideoMode &

video_mode

)

const

isSynchronizationSupported()

bool pcl::io::openni2::OpenNI2Device::isSynchronizationSupported ( )

inline

Definition at line 213 of file openni2_device.h.

isSynchronized()

bool pcl::io::openni2::OpenNI2Device::isSynchronized ( )

inline

Definition at line 207 of file openni2_device.h.

References openni_device_.

isValid()

bool pcl::io::openni2::OpenNI2Device::isValid

(

)

const

processColorFrame()

void pcl::io::openni2::OpenNI2Device::processColorFrame ( openni::VideoStream & stream )

protected

processDepthFrame()

void pcl::io::openni2::OpenNI2Device::processDepthFrame ( openni::VideoStream & stream )

protected

processIRFrame()

void pcl::io::openni2::OpenNI2Device::processIRFrame ( openni::VideoStream & stream )

protected

resizingSupported()

bool pcl::io::openni2::OpenNI2Device::resizingSupported ( std::size_t input_width, std::size_t input_height, std::size_t output_width, std::size_t output_height ) const

protected

setAutoExposure()

void pcl::io::openni2::OpenNI2Device::setAutoExposure

(

bool

enable

)

setAutoWhiteBalance()

void pcl::io::openni2::OpenNI2Device::setAutoWhiteBalance

(

bool

enable

)

setColorCallback()

void pcl::io::openni2::OpenNI2Device::setColorCallback

(

StreamCallbackFunction

color_callback

)

setColorVideoMode()

void pcl::io::openni2::OpenNI2Device::setColorVideoMode

(

const OpenNI2VideoMode &

video_mode

)

setDepthCallback()

void pcl::io::openni2::OpenNI2Device::setDepthCallback

(

StreamCallbackFunction

depth_callback

)

setDepthVideoMode()

void pcl::io::openni2::OpenNI2Device::setDepthVideoMode

(

const OpenNI2VideoMode &

video_mode

)

setImageRegistrationMode()

void pcl::io::openni2::OpenNI2Device::setImageRegistrationMode

(

bool

enabled

)

setIRCallback()

void pcl::io::openni2::OpenNI2Device::setIRCallback

(

StreamCallbackFunction

ir_callback

)

setIRVideoMode()

void pcl::io::openni2::OpenNI2Device::setIRVideoMode

(

const OpenNI2VideoMode &

video_mode

)

setPlaybackSpeed()

bool pcl::io::openni2::OpenNI2Device::setPlaybackSpeed

(

double

speed

)

Set the playback speed if the device is an recorded stream.

If setting the device playback speed fails, because the device is no recorded stream or any other reason this function returns false. Otherwise true is returned.

Parameters

[in]

speed

The playback speed factor 1.0 means the same speed as recorded, 0.5 half the speed, 2.0 double speed and so on.

Returns

True on success, false otherwise.

setSynchronization()

void pcl::io::openni2::OpenNI2Device::setSynchronization

(

bool

enableSync

)

setUseDeviceTimer()

void pcl::io::openni2::OpenNI2Device::setUseDeviceTimer

(

bool

enable

)

shutdown()

void pcl::io::openni2::OpenNI2Device::shutdown ( )

protected

startColorStream()

void pcl::io::openni2::OpenNI2Device::startColorStream

(

)

startDepthStream()

void pcl::io::openni2::OpenNI2Device::startDepthStream

(

)

startIRStream()

void pcl::io::openni2::OpenNI2Device::startIRStream

(

)

stopAllStreams()

void pcl::io::openni2::OpenNI2Device::stopAllStreams

(

)

stopColorStream()

void pcl::io::openni2::OpenNI2Device::stopColorStream

(

)

stopDepthStream()

void pcl::io::openni2::OpenNI2Device::stopDepthStream

(

)

stopIRStream()

void pcl::io::openni2::OpenNI2Device::stopIRStream

(

)

Member Data Documentation

baseline_

float pcl::io::openni2::OpenNI2Device::baseline_ {0.0f}

protected

distance between the projector and the IR camera in meters

Definition at line 323 of file openni2_device.h.

color_frame_listener

std::shared_ptr<OpenNI2FrameListener> pcl::io::openni2::OpenNI2Device::color_frame_listener

protected

Definition at line 307 of file openni2_device.h.

color_video_modes_

std::vector<OpenNI2VideoMode> pcl::io::openni2::OpenNI2Device::color_video_modes_

mutableprotected

Definition at line 315 of file openni2_device.h.

color_video_started_

bool pcl::io::openni2::OpenNI2Device::color_video_started_ {false}

protected

Definition at line 319 of file openni2_device.h.

color_video_stream_

std::shared_ptr<openni::VideoStream> pcl::io::openni2::OpenNI2Device::color_video_stream_

mutableprotected

Definition at line 311 of file openni2_device.h.

depth_frame_listener

std::shared_ptr<OpenNI2FrameListener> pcl::io::openni2::OpenNI2Device::depth_frame_listener

protected

Definition at line 308 of file openni2_device.h.

depth_video_modes_

std::vector<OpenNI2VideoMode> pcl::io::openni2::OpenNI2Device::depth_video_modes_

mutableprotected

Definition at line 316 of file openni2_device.h.

depth_video_started_

bool pcl::io::openni2::OpenNI2Device::depth_video_started_ {false}

protected

Definition at line 320 of file openni2_device.h.

depth_video_stream_

std::shared_ptr<openni::VideoStream> pcl::io::openni2::OpenNI2Device::depth_video_stream_

mutableprotected

Definition at line 312 of file openni2_device.h.

device_info_

std::shared_ptr<openni::DeviceInfo> pcl::io::openni2::OpenNI2Device::device_info_

protected

Definition at line 304 of file openni2_device.h.

ir_frame_listener

std::shared_ptr<OpenNI2FrameListener> pcl::io::openni2::OpenNI2Device::ir_frame_listener

protected

Definition at line 306 of file openni2_device.h.

ir_video_modes_

std::vector<OpenNI2VideoMode> pcl::io::openni2::OpenNI2Device::ir_video_modes_

mutableprotected

Definition at line 314 of file openni2_device.h.

ir_video_started_

bool pcl::io::openni2::OpenNI2Device::ir_video_started_ {false}

protected

Definition at line 318 of file openni2_device.h.

ir_video_stream_

std::shared_ptr<openni::VideoStream> pcl::io::openni2::OpenNI2Device::ir_video_stream_

mutableprotected

Definition at line 310 of file openni2_device.h.

no_sample_value_

std::uint64_t pcl::io::openni2::OpenNI2Device::no_sample_value_ {0}

protected

the value for pixels without a valid disparity measurement

Definition at line 327 of file openni2_device.h.

openni_device_

std::shared_ptr<openni::Device> pcl::io::openni2::OpenNI2Device::openni_device_

protected

Definition at line 303 of file openni2_device.h.

Referenced by isFile(), and isSynchronized().

shadow_value_

std::uint64_t pcl::io::openni2::OpenNI2Device::shadow_value_ {0}

protected

the value for shadow (occluded pixels)

Definition at line 325 of file openni2_device.h.

---

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

• pcl/io/openni2/openni2_device.h