Class OpenNI2Device

Defined in File openni2_device.h

Class Documentation

class OpenNI2Device

Public Functions

OpenNI2Device(const std::string &device_URI, rclcpp::Node *node)

virtual ~OpenNI2Device()

const std::string getUri() const

const std::string getVendor() const

const std::string getName() const

uint16_t getUsbVendorId() const

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)

void setDepthColorSync(bool enabled)

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

void setIRVideoMode(const OpenNI2VideoMode &video_mode)

void setColorVideoMode(const OpenNI2VideoMode &video_mode)

void setDepthVideoMode(const OpenNI2VideoMode &video_mode)

void setIRFrameCallback(FrameCallbackFunction callback)

void setColorFrameCallback(FrameCallbackFunction callback)

void setDepthFrameCallback(FrameCallbackFunction callback)

float getIRFocalLength(int output_y_resolution) const

float getColorFocalLength(int output_y_resolution) const

float getDepthFocalLength(int output_y_resolution) const

float getBaseline() const

void setAutoExposure(bool enable)

void setAutoWhiteBalance(bool enable)

void setExposure(int exposure)

bool getAutoExposure() const

bool getAutoWhiteBalance() const

int getExposure() const

void setUseDeviceTimer(bool enable)

Protected Functions

void shutdown()

std::shared_ptr<openni::VideoStream> getIRVideoStream() const

std::shared_ptr<openni::VideoStream> getColorVideoStream() const

std::shared_ptr<openni::VideoStream> getDepthVideoStream() 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

mutable std::shared_ptr<openni::VideoStream> ir_video_stream_

mutable std::shared_ptr<openni::VideoStream> color_video_stream_

mutable std::shared_ptr<openni::VideoStream> depth_video_stream_

mutable std::vector<OpenNI2VideoMode> ir_video_modes_

mutable std::vector<OpenNI2VideoMode> color_video_modes_

mutable std::vector<OpenNI2VideoMode> depth_video_modes_

bool ir_video_started_

bool color_video_started_

bool depth_video_started_

bool image_registration_activated_