Program Listing for File openni2_device.h
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/*
* Copyright (c) 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Julius Kammerl (jkammerl@willowgarage.com)
*/
#ifndef OPENNI2_DEVICE_H
#define OPENNI2_DEVICE_H
#include "openni2_camera/openni2_video_mode.h"
#include "openni2_camera/openni2_exception.h"
#include <functional>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <string>
#include <vector>
namespace openni
{
class Device;
class DeviceInfo;
class VideoStream;
class SensorInfo;
}
namespace openni2_wrapper
{
typedef std::function<void(sensor_msgs::msg::Image::SharedPtr image)> FrameCallbackFunction;
class OpenNI2FrameListener;
class OpenNI2Device
{
public:
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:
void shutdown();
std::shared_ptr<openni::VideoStream> getIRVideoStream() const;
std::shared_ptr<openni::VideoStream> getColorVideoStream() const;
std::shared_ptr<openni::VideoStream> getDepthVideoStream() const;
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_;
};
std::ostream& operator << (std::ostream& stream, const OpenNI2Device& device);
}
#endif /* OPENNI_DEVICE_H */