Point Cloud Library (PCL)  1.8.1-dev
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends Groups Pages
List of all members | Public Member Functions | Protected Member Functions | Friends
openni_wrapper::DeviceXtionPro Class Reference

Concrete implementation of the interface OpenNIDevice for a Asus Xtion Pro device. More...

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

+ Inheritance diagram for openni_wrapper::DeviceXtionPro:

Public Member Functions

 DeviceXtionPro (xn::Context &context, const xn::NodeInfo &device_node, const xn::NodeInfo &depth_node, const xn::NodeInfo &ir_node)
 
virtual ~DeviceXtionPro () throw ()
 
- Public Member Functions inherited from openni_wrapper::OpenNIDevice
virtual ~OpenNIDevice () throw ()
 virtual destructor. More...
 
bool findCompatibleImageMode (const XnMapOutputMode &output_mode, XnMapOutputMode &mode) const throw ()
 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 throw ()
 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 throw ()
 returns whether a given mode is natively supported by the device or not More...
 
bool isDepthModeSupported (const XnMapOutputMode &output_mode) const throw ()
 returns whether a given mode is natively supported by the device or not More...
 
const XnMapOutputMode & getDefaultImageMode () const throw ()
 returns the default image mode, which is simply the first entry in the list of modes More...
 
const XnMapOutputMode & getDefaultDepthMode () const throw ()
 returns the default depth mode, which is simply the first entry in the list of modes More...
 
const XnMapOutputMode & getDefaultIRMode () const throw ()
 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 throw ()
 
bool isDepthRegistrationSupported () const throw ()
 
void setSynchronization (bool on_off)
 set the hardware synchronization between Depth and RGB stream on or off. More...
 
bool isSynchronized () const throw ()
 
virtual bool isSynchronizationSupported () const throw ()
 
bool isDepthCropped () const
 
void setDepthCropping (unsigned x, unsigned y, unsigned width, unsigned height)
 turn on cropping for the depth stream. More...
 
bool isDepthCroppingSupported () const throw ()
 
float getImageFocalLength (int output_x_resolution=0) const throw ()
 returns the focal length for the color camera in pixels. More...
 
float getDepthFocalLength (int output_x_resolution=0) const throw ()
 returns the focal length for the IR camera in pixels. More...
 
float getBaseline () const throw ()
 
virtual void startImageStream ()
 starts the image stream. More...
 
virtual void stopImageStream ()
 stops the image 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 throw ()
 
bool hasDepthStream () const throw ()
 
bool hasIRStream () const throw ()
 
virtual bool isImageStreamRunning () const throw ()
 
virtual bool isDepthStreamRunning () const throw ()
 
virtual bool isIRStreamRunning () const throw ()
 
CallbackHandle registerImageCallback (const ImageCallbackFunction &callback, void *cookie=NULL) throw ()
 registers a callback function of boost::function type for the image stream with an optional user defined parameter. More...
 
template<typename T >
CallbackHandle registerImageCallback (void(T::*callback)(boost::shared_ptr< Image >, void *cookie), T &instance, void *cookie=NULL) throw ()
 registers a callback function for the image stream with an optional user defined parameter. More...
 
bool unregisterImageCallback (const CallbackHandle &callbackHandle) throw ()
 unregisters a callback function. More...
 
CallbackHandle registerDepthCallback (const DepthImageCallbackFunction &callback, void *cookie=NULL) throw ()
 registers a callback function of boost::function type for the depth stream with an optional user defined parameter. More...
 
template<typename T >
CallbackHandle registerDepthCallback (void(T::*callback)(boost::shared_ptr< DepthImage >, void *cookie), T &instance, void *cookie=NULL) throw ()
 registers a callback function for the depth stream with an optional user defined parameter. More...
 
bool unregisterDepthCallback (const CallbackHandle &callbackHandle) throw ()
 unregisters a callback function. More...
 
CallbackHandle registerIRCallback (const IRImageCallbackFunction &callback, void *cookie=NULL) throw ()
 registers a callback function of boost::function type for the IR stream with an optional user defined parameter. More...
 
template<typename T >
CallbackHandle registerIRCallback (void(T::*callback)(boost::shared_ptr< IRImage >, void *cookie), T &instance, void *cookie=NULL) throw ()
 registers a callback function for the IR stream with an optional user defined parameter. More...
 
bool unregisterIRCallback (const CallbackHandle &callbackHandle) throw ()
 unregisters a callback function. More...
 
const char * getSerialNumber () const throw ()
 returns the serial number for device. More...
 
const char * getConnectionString () const throw ()
 returns the connection string for current device, which has following format vendorID/productID@BusID/DeviceID. More...
 
const char * getVendorName () const throw ()
 
const char * getProductName () const throw ()
 
unsigned short getVendorID () const throw ()
 
unsigned short getProductID () const throw ()
 
unsigned char getBus () const throw ()
 
unsigned char getAddress () const throw ()
 
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...
 
pcl::uint16_t shiftToDepth (pcl::uint16_t shift_value) const
 Convert shift to depth value. More...
 

Protected Member Functions

virtual boost::shared_ptr< ImagegetCurrentImage (boost::shared_ptr< xn::ImageMetaData > image_meta_data) const throw ()
 
void enumAvailableModes () throw ()
 
virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ()
 
virtual void startDepthStream ()
 starts the depth stream. More...
 
- Protected Member Functions inherited from openni_wrapper::OpenNIDevice
 OpenNIDevice (xn::Context &context, const xn::NodeInfo &device_node, const xn::NodeInfo &image_node, const xn::NodeInfo &depth_node, const xn::NodeInfo &ir_node)
 
 OpenNIDevice (xn::Context &context, const xn::NodeInfo &device_node, const xn::NodeInfo &depth_node, const xn::NodeInfo &ir_node)
 
 OpenNIDevice (xn::Context &context)
 
void ImageDataThreadFunction ()
 
void DepthDataThreadFunction ()
 
void IRDataThreadFunction ()
 
void setRegistration (bool on_off)
 
void Init ()
 
void InitShiftToDepthConversion ()
 
void ReadDeviceParametersFromSensorNode ()
 

Friends

class OpenNIDriver
 

Additional Inherited Members

- Public Types inherited from openni_wrapper::OpenNIDevice
enum  DepthMode { OpenNI_shift_values = 0, OpenNI_12_bit_depth = 1 }
 
typedef boost::function< void(boost::shared_ptr
< Image >, void *cookie) > 
ImageCallbackFunction
 
typedef boost::function< void(boost::shared_ptr
< DepthImage >, void *cookie) > 
DepthImageCallbackFunction
 
typedef boost::function< void(boost::shared_ptr
< IRImage >, void *cookie) > 
IRImageCallbackFunction
 
typedef unsigned CallbackHandle
 
- Protected Types inherited from openni_wrapper::OpenNIDevice
typedef boost::function< void(boost::shared_ptr
< Image >) > 
ActualImageCallbackFunction
 
typedef boost::function< void(boost::shared_ptr
< DepthImage >) > 
ActualDepthImageCallbackFunction
 
typedef boost::function< void(boost::shared_ptr
< IRImage >) > 
ActualIRImageCallbackFunction
 
- Static Protected Member Functions inherited from openni_wrapper::OpenNIDevice
static void __stdcall NewDepthDataAvailable (xn::ProductionNode &node, void *cookie) throw ()
 
static void __stdcall NewImageDataAvailable (xn::ProductionNode &node, void *cookie) throw ()
 
static void __stdcall NewIRDataAvailable (xn::ProductionNode &node, void *cookie) throw ()
 
- Protected Attributes inherited from openni_wrapper::OpenNIDevice
struct
openni_wrapper::OpenNIDevice::ShiftConversion 
shift_conversion_parameters_
 
std::vector< pcl::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_
 
boost::mutex image_mutex_
 
boost::mutex depth_mutex_
 
boost::mutex ir_mutex_
 
boost::condition_variable image_condition_
 
boost::condition_variable depth_condition_
 
boost::condition_variable ir_condition_
 
boost::thread image_thread_
 
boost::thread depth_thread_
 
boost::thread ir_thread_
 

Detailed Description

Concrete implementation of the interface OpenNIDevice for a Asus Xtion Pro device.

Author
Suat Gedikli
Date
02.january 2011

Definition at line 56 of file openni_device_xtion.h.

Constructor & Destructor Documentation

openni_wrapper::DeviceXtionPro::DeviceXtionPro ( xn::Context &  context,
const xn::NodeInfo &  device_node,
const xn::NodeInfo &  depth_node,
const xn::NodeInfo &  ir_node 
)
virtual openni_wrapper::DeviceXtionPro::~DeviceXtionPro ( )
throw (
)
virtual

Member Function Documentation

void openni_wrapper::DeviceXtionPro::enumAvailableModes ( )
throw (
)
protected
virtual boost::shared_ptr<Image> openni_wrapper::DeviceXtionPro::getCurrentImage ( boost::shared_ptr< xn::ImageMetaData >  image_meta_data) const
throw (
)
protectedvirtual
virtual bool openni_wrapper::DeviceXtionPro::isImageResizeSupported ( unsigned  input_width,
unsigned  input_height,
unsigned  output_width,
unsigned  output_height 
) const
throw (
)
protectedvirtual
virtual void openni_wrapper::DeviceXtionPro::startDepthStream ( )
protectedvirtual

starts the depth stream.

Reimplemented from openni_wrapper::OpenNIDevice.

Friends And Related Function Documentation

friend class OpenNIDriver
friend

Definition at line 58 of file openni_device_xtion.h.


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