openni_wrapper::OpenNIDevice Class Reference

Class representing an astract device for Primesense or MS Kinect devices. More...

#include <openni_device.h>

Inheritance diagram for openni_wrapper::OpenNIDevice:
Inheritance graph
[legend]

List of all members.

Public Types

typedef unsigned CallbackHandle
typedef boost::function< void(boost::shared_ptr
< DepthImage >, void *cookie) 		DepthImageCallbackFunction )
typedef boost::function< void(boost::shared_ptr
< Image >, void *cookie) 		ImageCallbackFunction )

Public Member Functions

virtual bool findCompatibleDepthMode (const XnMapOutputMode &output_mode, XnMapOutputMode &mode) const throw (OpenNIException)
virtual bool findCompatibleImageMode (const XnMapOutputMode &output_mode, XnMapOutputMode &mode) const throw (OpenNIException)
unsigned char getAddress () const throw ()
float getBaseline () const throw ()
unsigned char getBus () const throw ()
const char * getConnectionString () const throw ()
 returns the connectionstring for current device, which has following format vendorID/productID@BusID/DeviceID
virtual const XnMapOutputMode & getDefaultDepthMode () const throw ()
virtual const XnMapOutputMode & getDefaultImageMode () const throw ()
float getDepthFocalLength (int output_x_resolution=0) const throw ()
 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.
XnMapOutputMode getDepthOutputMode () const throw (OpenNIException)
float getImageFocalLength (int output_x_resolution=0) const throw ()
 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.
XnMapOutputMode getImageOutputMode () const throw (OpenNIException)
unsigned short getProductID () const throw ()
const char * getProductName () const throw ()
const char * getSerialNumber () const throw ()
 returns the serial number for device.
unsigned short getVendorID () const throw ()
const char * getVendorName () const throw ()
virtual bool isDepthCropped () const throw (OpenNIException)
virtual bool isDepthCroppingSupported () const throw ()
virtual bool isDepthModeSupported (const XnMapOutputMode &output_mode) const throw (OpenNIException)
bool isDepthRegistered () const throw (OpenNIException)
bool isDepthStreamRunning () const throw (OpenNIException)
virtual bool isImageModeSupported (const XnMapOutputMode &output_mode) const throw (OpenNIException)
bool isImageStreamRunning () const throw (OpenNIException)
virtual bool isSynchronizationSupported () const throw ()
virtual bool isSynchronized () const throw (OpenNIException)
template<typename T >
CallbackHandle registerDepthCallback (void(T::*callback)(boost::shared_ptr< DepthImage >, void *cookie), T &instance, void *cookie=NULL) throw ()
CallbackHandle registerDepthCallback (const DepthImageCallbackFunction &callback, void *cookie=NULL) throw ()
template<typename T >
CallbackHandle registerImageCallback (void(T::*callback)(boost::shared_ptr< Image >, void *cookie), T &instance, void *cookie=NULL) throw ()
CallbackHandle registerImageCallback (const ImageCallbackFunction &callback, void *cookie=NULL) throw ()
virtual void setDepthCropping (unsigned x, unsigned y, unsigned width, unsigned height) throw (OpenNIException)
virtual void setDepthOutputMode (const XnMapOutputMode &output_mode) throw (OpenNIException)
void setDepthRegistration (bool on_off) throw (OpenNIException)
virtual void setImageOutputMode (const XnMapOutputMode &output_mode) throw (OpenNIException)
virtual void setSynchronization (bool on_off) throw (OpenNIException)
virtual void startDepthStream () throw (OpenNIException)
virtual void startImageStream () throw (OpenNIException)
virtual void stopDepthStream () throw (OpenNIException)
virtual void stopImageStream () throw (OpenNIException)
bool unregisterDepthCallback (const CallbackHandle &callbackHandle) throw ()
bool unregisterImageCallback (const CallbackHandle &callbackHandle) throw ()
virtual ~OpenNIDevice () throw ()

Protected Types

typedef boost::function< void(boost::shared_ptr
< DepthImage >) > 		ActualDepthImageCallbackFunction
typedef boost::function< void(boost::shared_ptr
< Image >) > 		ActualImageCallbackFunction

Protected Member Functions

void DepthDataThreadFunction () throw (OpenNIException)
virtual void getAvailableModes () throw (OpenNIException)
virtual boost::shared_ptr< Image > getCurrentImage (boost::shared_ptr< xn::ImageMetaData > image_data) const =0 throw ()
void ImageDataThreadFunction () throw (OpenNIException)
void Init () throw (OpenNIException)
virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const =0 throw ()
 OpenNIDevice (xn::Context &context, const xn::NodeInfo &device_node, const xn::NodeInfo &image_node, const xn::NodeInfo &depth_node) throw (OpenNIException)
void setRegistration (bool on_off) throw (OpenNIException)

Static Protected Member Functions

static void __stdcall NewDepthDataAvailable (xn::ProductionNode &node, void *cookie) throw ()
static void __stdcall NewImageDataAvailable (xn::ProductionNode &node, void *cookie) throw ()

Protected Attributes

std::vector< XnMapOutputMode > available_depth_modes_
std::vector< XnMapOutputMode > available_image_modes_
float baseline_
 distance between the projector and the IR camera
xn::Context & context_
std::map< CallbackHandle,
ActualDepthImageCallbackFunction > 		depth_callback_
XnCallbackHandle depth_callback_handle_
OpenNIDevice::CallbackHandle depth_callback_handle_counter_
boost::condition_variable depth_condition_
float depth_focal_length_SXGA_
 focal length for IR camera producing depth information in native SXGA mode
xn::DepthGenerator depth_generator_
 Depth generator object.
boost::mutex depth_mutex_
boost::thread depth_thread_
const xn::NodeInfo & device_node_info_
 node object for current device
std::map< CallbackHandle,
ActualImageCallbackFunction > 		image_callback_
XnCallbackHandle image_callback_handle_
OpenNIDevice::CallbackHandle image_callback_handle_counter_
boost::condition_variable image_condition_
xn::ImageGenerator image_generator_
 Image generator object.
boost::mutex image_mutex_
boost::thread image_thread_
XnUInt64 no_sample_value_
bool running_
XnUInt64 shadow_value_

Static Protected Attributes

static const float rgb_focal_length_SXGA_ = 1050
 focal length for regular camera producing color images in native SXGA mode

Detailed Description

Class representing an astract device for Primesense or MS Kinect devices.

Author:
Suat Gedikli
Date:
02.january 2011

Definition at line 65 of file openni_device.h.

Member Typedef Documentation

typedef boost::function<void(boost::shared_ptr<DepthImage>) > openni_wrapper::OpenNIDevice::ActualDepthImageCallbackFunction [protected]

Definition at line 145 of file openni_device.h.

typedef boost::function<void(boost::shared_ptr<Image>) > openni_wrapper::OpenNIDevice::ActualImageCallbackFunction [protected]

Definition at line 144 of file openni_device.h.

typedef unsigned openni_wrapper::OpenNIDevice::CallbackHandle

Definition at line 70 of file openni_device.h.

typedef boost::function<void(boost::shared_ptr<DepthImage>, void* cookie) openni_wrapper::OpenNIDevice::DepthImageCallbackFunction)

Definition at line 69 of file openni_device.h.

typedef boost::function<void(boost::shared_ptr<Image>, void* cookie) openni_wrapper::OpenNIDevice::ImageCallbackFunction)

Definition at line 68 of file openni_device.h.

Constructor & Destructor Documentation

openni_wrapper::OpenNIDevice::~OpenNIDevice (  )  throw () [virtual]

Definition at line 80 of file openni_device.cpp.

openni_wrapper::OpenNIDevice::OpenNIDevice ( xn::Context &  context,
const xn::NodeInfo &  device_node,
const xn::NodeInfo &  image_node,
const xn::NodeInfo &  depth_node 
) throw (OpenNIException) [protected]

Definition at line 51 of file openni_device.cpp.

Member Function Documentation

void openni_wrapper::OpenNIDevice::DepthDataThreadFunction (  )  throw (OpenNIException) [protected]

Definition at line 338 of file openni_device.cpp.

bool openni_wrapper::OpenNIDevice::findCompatibleDepthMode ( const XnMapOutputMode &  output_mode,
XnMapOutputMode &  mode 
) const throw (OpenNIException) [virtual]

Definition at line 495 of file openni_device.cpp.

bool openni_wrapper::OpenNIDevice::findCompatibleImageMode ( const XnMapOutputMode &  output_mode,
XnMapOutputMode &  mode 
) const throw (OpenNIException) [virtual]

Definition at line 465 of file openni_device.cpp.

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

Definition at line 442 of file openni_device.cpp.

void openni_wrapper::OpenNIDevice::getAvailableModes (  )  throw (OpenNIException) [protected, virtual]

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

Definition at line 525 of file openni_device.cpp.

float openni_wrapper::OpenNIDevice::getBaseline (  )  const throw () [inline]

Definition at line 229 of file openni_device.h.

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

Definition at line 431 of file openni_device.cpp.

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

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

Definition at line 404 of file openni_device.cpp.

virtual boost::shared_ptr<Image> openni_wrapper::OpenNIDevice::getCurrentImage ( boost::shared_ptr< xn::ImageMetaData >  image_data  )  const throw () [protected, pure virtual]

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

const XnMapOutputMode & openni_wrapper::OpenNIDevice::getDefaultDepthMode (  )  const throw () [virtual]

Definition at line 585 of file openni_device.cpp.

const XnMapOutputMode & openni_wrapper::OpenNIDevice::getDefaultImageMode (  )  const throw () [virtual]

Definition at line 580 of file openni_device.cpp.

float openni_wrapper::OpenNIDevice::getDepthFocalLength ( int  output_x_resolution = 0  )  const throw () [inline]

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 217 of file openni_device.h.

XnMapOutputMode openni_wrapper::OpenNIDevice::getDepthOutputMode (  )  const throw (OpenNIException)

Definition at line 617 of file openni_device.cpp.

float openni_wrapper::OpenNIDevice::getImageFocalLength ( int  output_x_resolution = 0  )  const throw () [inline]

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 208 of file openni_device.h.

XnMapOutputMode openni_wrapper::OpenNIDevice::getImageOutputMode (  )  const throw (OpenNIException)

Definition at line 606 of file openni_device.cpp.

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

Definition at line 420 of file openni_device.cpp.

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

Definition at line 459 of file openni_device.cpp.

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

returns the serial number for device.

Attention:
This might be an empty string!!!

Definition at line 399 of file openni_device.cpp.

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

Definition at line 409 of file openni_device.cpp.

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

Definition at line 453 of file openni_device.cpp.

void openni_wrapper::OpenNIDevice::ImageDataThreadFunction (  )  throw (OpenNIException) [protected]

Definition at line 311 of file openni_device.cpp.

void openni_wrapper::OpenNIDevice::Init (  )  throw (OpenNIException) [protected]

Definition at line 103 of file openni_device.cpp.

bool openni_wrapper::OpenNIDevice::isDepthCropped (  )  const throw (OpenNIException) [virtual]

Reimplemented in openni_wrapper::DeviceKinect.

Definition at line 284 of file openni_device.cpp.

bool openni_wrapper::OpenNIDevice::isDepthCroppingSupported (  )  const throw () [virtual]

Reimplemented in openni_wrapper::DeviceKinect.

Definition at line 278 of file openni_device.cpp.

bool openni_wrapper::OpenNIDevice::isDepthModeSupported ( const XnMapOutputMode &  output_mode  )  const throw (OpenNIException) [virtual]

Definition at line 570 of file openni_device.cpp.

bool openni_wrapper::OpenNIDevice::isDepthRegistered (  )  const throw (OpenNIException)

Definition at line 233 of file openni_device.cpp.

bool openni_wrapper::OpenNIDevice::isDepthStreamRunning (  )  const throw (OpenNIException)

Definition at line 203 of file openni_device.cpp.

bool openni_wrapper::OpenNIDevice::isImageModeSupported ( const XnMapOutputMode &  output_mode  )  const throw (OpenNIException) [virtual]

Definition at line 560 of file openni_device.cpp.

virtual bool openni_wrapper::OpenNIDevice::isImageResizeSupported ( unsigned  input_width,
unsigned  input_height,
unsigned  output_width,
unsigned  output_height 
) const throw () [protected, pure virtual]

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

bool openni_wrapper::OpenNIDevice::isImageStreamRunning (  )  const throw (OpenNIException)

Definition at line 197 of file openni_device.cpp.

bool openni_wrapper::OpenNIDevice::isSynchronizationSupported (  )  const throw () [virtual]

Reimplemented in openni_wrapper::DeviceKinect.

Definition at line 243 of file openni_device.cpp.

bool openni_wrapper::OpenNIDevice::isSynchronized (  )  const throw (OpenNIException) [virtual]

Reimplemented in openni_wrapper::DeviceKinect.

Definition at line 269 of file openni_device.cpp.

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

Definition at line 365 of file openni_device.cpp.

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

Definition at line 371 of file openni_device.cpp.

template<typename T >
OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::registerDepthCallback ( void(T::*)(boost::shared_ptr< DepthImage >, void *cookie)  callback,
T &  instance,
void *  cookie = NULL 
) throw () [inline]

Definition at line 240 of file openni_device.h.

OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::registerDepthCallback ( const DepthImageCallbackFunction &  callback,
void *  cookie = NULL 
) throw ()

Definition at line 388 of file openni_device.cpp.

template<typename T >
OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::registerImageCallback ( void(T::*)(boost::shared_ptr< Image >, void *cookie)  callback,
T &  instance,
void *  cookie = NULL 
) throw () [inline]

Definition at line 234 of file openni_device.h.

OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::registerImageCallback ( const ImageCallbackFunction &  callback,
void *  cookie = NULL 
) throw ()

Definition at line 377 of file openni_device.cpp.

void openni_wrapper::OpenNIDevice::setDepthCropping ( unsigned  x,
unsigned  y,
unsigned  width,
unsigned  height 
) throw (OpenNIException) [virtual]

Reimplemented in openni_wrapper::DeviceKinect.

Definition at line 296 of file openni_device.cpp.

void openni_wrapper::OpenNIDevice::setDepthOutputMode ( const XnMapOutputMode &  output_mode  )  throw (OpenNIException) [virtual]

Definition at line 598 of file openni_device.cpp.

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

Definition at line 209 of file openni_device.cpp.

void openni_wrapper::OpenNIDevice::setImageOutputMode ( const XnMapOutputMode &  output_mode  )  throw (OpenNIException) [virtual]

Definition at line 590 of file openni_device.cpp.

void openni_wrapper::OpenNIDevice::setRegistration ( bool  on_off  )  throw (OpenNIException) [protected]
void openni_wrapper::OpenNIDevice::setSynchronization ( bool  on_off  )  throw (OpenNIException) [virtual]

Reimplemented in openni_wrapper::DeviceKinect.

Definition at line 249 of file openni_device.cpp.

void openni_wrapper::OpenNIDevice::startDepthStream (  )  throw (OpenNIException) [virtual]

Reimplemented in openni_wrapper::DevicePrimesense.

Definition at line 173 of file openni_device.cpp.

void openni_wrapper::OpenNIDevice::startImageStream (  )  throw (OpenNIException) [virtual]

Reimplemented in openni_wrapper::DevicePrimesense.

Definition at line 151 of file openni_device.cpp.

void openni_wrapper::OpenNIDevice::stopDepthStream (  )  throw (OpenNIException) [virtual]

Definition at line 185 of file openni_device.cpp.

void openni_wrapper::OpenNIDevice::stopImageStream (  )  throw (OpenNIException) [virtual]

Definition at line 162 of file openni_device.cpp.

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

Definition at line 394 of file openni_device.cpp.

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

Definition at line 383 of file openni_device.cpp.

Member Data Documentation

std::vector<XnMapOutputMode> openni_wrapper::OpenNIDevice::available_depth_modes_ [protected]

Definition at line 171 of file openni_device.h.

std::vector<XnMapOutputMode> openni_wrapper::OpenNIDevice::available_image_modes_ [protected]

Definition at line 170 of file openni_device.h.

float openni_wrapper::OpenNIDevice::baseline_ [protected]

distance between the projector and the IR camera

Definition at line 186 of file openni_device.h.

xn::Context& openni_wrapper::OpenNIDevice::context_ [protected]

Definition at line 190 of file openni_device.h.

std::map< CallbackHandle, ActualDepthImageCallbackFunction > openni_wrapper::OpenNIDevice::depth_callback_ [protected]

Definition at line 168 of file openni_device.h.

XnCallbackHandle openni_wrapper::OpenNIDevice::depth_callback_handle_ [protected]

Definition at line 180 of file openni_device.h.

OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::depth_callback_handle_counter_ [protected]

Definition at line 197 of file openni_device.h.

boost::condition_variable openni_wrapper::OpenNIDevice::depth_condition_ [protected]

Definition at line 203 of file openni_device.h.

float openni_wrapper::OpenNIDevice::depth_focal_length_SXGA_ [protected]

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

Definition at line 184 of file openni_device.h.

xn::DepthGenerator openni_wrapper::OpenNIDevice::depth_generator_ [protected]

Depth generator object.

Definition at line 176 of file openni_device.h.

boost::mutex openni_wrapper::OpenNIDevice::depth_mutex_ [mutable, protected]

Definition at line 201 of file openni_device.h.

boost::thread openni_wrapper::OpenNIDevice::depth_thread_ [protected]

Definition at line 205 of file openni_device.h.

const xn::NodeInfo& openni_wrapper::OpenNIDevice::device_node_info_ [protected]

node object for current device

Definition at line 174 of file openni_device.h.

std::map< CallbackHandle, ActualImageCallbackFunction > openni_wrapper::OpenNIDevice::image_callback_ [protected]

Definition at line 167 of file openni_device.h.

XnCallbackHandle openni_wrapper::OpenNIDevice::image_callback_handle_ [protected]

Definition at line 181 of file openni_device.h.

OpenNIDevice::CallbackHandle openni_wrapper::OpenNIDevice::image_callback_handle_counter_ [protected]

Definition at line 196 of file openni_device.h.

boost::condition_variable openni_wrapper::OpenNIDevice::image_condition_ [protected]

Definition at line 202 of file openni_device.h.

xn::ImageGenerator openni_wrapper::OpenNIDevice::image_generator_ [protected]

Image generator object.

Definition at line 178 of file openni_device.h.

boost::mutex openni_wrapper::OpenNIDevice::image_mutex_ [mutable, protected]

Definition at line 200 of file openni_device.h.

boost::thread openni_wrapper::OpenNIDevice::image_thread_ [protected]

Definition at line 204 of file openni_device.h.

XnUInt64 openni_wrapper::OpenNIDevice::no_sample_value_ [protected]

the value for pixels without a valid disparity measurement

Definition at line 194 of file openni_device.h.

const float openni_wrapper::OpenNIDevice::rgb_focal_length_SXGA_ = 1050 [static, protected]

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

Definition at line 188 of file openni_device.h.

bool openni_wrapper::OpenNIDevice::running_ [protected]

Definition at line 199 of file openni_device.h.

XnUInt64 openni_wrapper::OpenNIDevice::shadow_value_ [protected]

the value for shadow (occluded pixels)

Definition at line 192 of file openni_device.h.

The documentation for this class was generated from the following files:
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openni_camera
Author(s): Radu Bogdan Rusu, Patrick Mihelich, Suat Gedikli
autogenerated on Fri Jan 11 10:06:35 2013