#include <astra_device.h>

Public Member Functions
	AstraDevice (const std::string &device_URI)
bool	getAutoExposure () const
bool	getAutoWhiteBalance () const
float	getBaseline () const
OBCameraParams	getCameraParams () const
float	getColorFocalLength (int output_y_resolution) const
const AstraVideoMode	getColorVideoMode ()
float	getDepthFocalLength (int output_y_resolution) const
const AstraVideoMode	getDepthVideoMode ()
char *	getDeviceType ()
int	getDeviceTypeNo ()
int	getIRExposure () const
float	getIRFocalLength (int output_y_resolution) const
int	getIRGain () const
const AstraVideoMode	getIRVideoMode ()
const std::string	getName () const
char *	getSerialNumber ()
const std::string	getStringID () const
const std::vector < AstraVideoMode > &	getSupportedColorVideoModes () const
const std::vector < AstraVideoMode > &	getSupportedDepthVideoModes () const
const std::vector < AstraVideoMode > &	getSupportedIRVideoModes () const
const std::string	getUri () const
uint16_t	getUsbProductId () const
uint16_t	getUsbVendorId () const
const std::string	getVendor () const
bool	hasColorSensor () const
bool	hasDepthSensor () const
bool	hasIRSensor () const
bool	isColorStreamStarted ()
bool	isColorVideoModeSupported (const AstraVideoMode &video_mode) const
bool	isDepthStreamStarted ()
bool	isDepthVideoModeSupported (const AstraVideoMode &video_mode) const
bool	isImageRegistrationModeSupported () const
bool	isIRStreamStarted ()
bool	isIRVideoModeSupported (const AstraVideoMode &video_mode) const
bool	isValid () const
void	setAutoExposure (bool enable)
void	setAutoWhiteBalance (bool enable)
void	setCameraParams (OBCameraParams param)
void	setColorFrameCallback (FrameCallbackFunction callback)
void	setColorVideoMode (const AstraVideoMode &video_mode)
void	setDepthColorSync (bool enabled)
void	setDepthFrameCallback (FrameCallbackFunction callback)
void	setDepthVideoMode (const AstraVideoMode &video_mode)
void	setImageRegistrationMode (bool enabled)
void	setIRExposure (int exposure)
void	setIRFlood (bool enable)
void	setIRFrameCallback (FrameCallbackFunction callback)
void	setIRGain (int gain)
void	setIRVideoMode (const AstraVideoMode &video_mode)
void	setLaser (bool enable)
void	setUseDeviceTimer (bool enable)
void	startColorStream ()
void	startDepthStream ()
void	startIRStream ()
void	stopAllStreams ()
void	stopColorStream ()
void	stopDepthStream ()
void	stopIRStream ()
virtual	~AstraDevice ()
Protected Member Functions
boost::shared_ptr < openni::VideoStream >	getColorVideoStream () const
boost::shared_ptr < openni::VideoStream >	getDepthVideoStream () const
boost::shared_ptr < openni::VideoStream >	getIRVideoStream () const
void	shutdown ()
Protected Attributes
boost::shared_ptr < AstraFrameListener >	color_frame_listener
std::vector< AstraVideoMode >	color_video_modes_
bool	color_video_started_
boost::shared_ptr < openni::VideoStream >	color_video_stream_
boost::shared_ptr < AstraFrameListener >	depth_frame_listener
std::vector< AstraVideoMode >	depth_video_modes_
bool	depth_video_started_
boost::shared_ptr < openni::VideoStream >	depth_video_stream_
boost::shared_ptr < openni::DeviceInfo >	device_info_
char	device_type [32]
int	device_type_no
bool	image_registration_activated_
boost::shared_ptr < AstraFrameListener >	ir_frame_listener
std::vector< AstraVideoMode >	ir_video_modes_
bool	ir_video_started_
boost::shared_ptr < openni::VideoStream >	ir_video_stream_
OBCameraParams	m_CamParams
boost::shared_ptr< openni::Device >	openni_device_
char	serial_number [12]
bool	use_device_time_

Detailed Description

Definition at line 67 of file astra_device.h.

Constructor & Destructor Documentation

astra_wrapper::AstraDevice::AstraDevice ( const std::string & device_URI )

Definition at line 55 of file astra_device.cpp.

astra_wrapper::AstraDevice::~AstraDevice ( ) [virtual]

Definition at line 117 of file astra_device.cpp.

Member Function Documentation

bool astra_wrapper::AstraDevice::getAutoExposure ( ) const

Definition at line 669 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::getAutoWhiteBalance ( ) const

Definition at line 684 of file astra_device.cpp.

float astra_wrapper::AstraDevice::getBaseline ( ) const

Definition at line 282 of file astra_device.cpp.

OBCameraParams astra_wrapper::AstraDevice::getCameraParams ( ) const

Definition at line 167 of file astra_device.cpp.

float astra_wrapper::AstraDevice::getColorFocalLength ( int output_y_resolution ) const

Definition at line 256 of file astra_device.cpp.

const AstraVideoMode astra_wrapper::AstraDevice::getColorVideoMode ( )

Definition at line 561 of file astra_device.cpp.

boost::shared_ptr< openni::VideoStream > astra_wrapper::AstraDevice::getColorVideoStream ( ) const [protected]

Definition at line 743 of file astra_device.cpp.

float astra_wrapper::AstraDevice::getDepthFocalLength ( int output_y_resolution ) const

Definition at line 269 of file astra_device.cpp.

const AstraVideoMode astra_wrapper::AstraDevice::getDepthVideoMode ( )

Definition at line 579 of file astra_device.cpp.

boost::shared_ptr< openni::VideoStream > astra_wrapper::AstraDevice::getDepthVideoStream ( ) const [protected]

Definition at line 759 of file astra_device.cpp.

char * astra_wrapper::AstraDevice::getDeviceType ( )

Definition at line 177 of file astra_device.cpp.

int astra_wrapper::AstraDevice::getDeviceTypeNo ( )

Definition at line 182 of file astra_device.cpp.

int astra_wrapper::AstraDevice::getIRExposure ( ) const

Definition at line 195 of file astra_device.cpp.

float astra_wrapper::AstraDevice::getIRFocalLength ( int output_y_resolution ) const

Definition at line 243 of file astra_device.cpp.

int astra_wrapper::AstraDevice::getIRGain ( ) const

Definition at line 187 of file astra_device.cpp.

const AstraVideoMode astra_wrapper::AstraDevice::getIRVideoMode ( )

Definition at line 543 of file astra_device.cpp.

boost::shared_ptr< openni::VideoStream > astra_wrapper::AstraDevice::getIRVideoStream ( ) const [protected]

Definition at line 727 of file astra_device.cpp.

const std::string astra_wrapper::AstraDevice::getName ( ) const

Definition at line 136 of file astra_device.cpp.

char * astra_wrapper::AstraDevice::getSerialNumber ( )

Definition at line 172 of file astra_device.cpp.

const std::string astra_wrapper::AstraDevice::getStringID ( ) const

Definition at line 151 of file astra_device.cpp.

const std::vector< AstraVideoMode > & astra_wrapper::AstraDevice::getSupportedColorVideoModes ( ) const

Definition at line 479 of file astra_device.cpp.

const std::vector< AstraVideoMode > & astra_wrapper::AstraDevice::getSupportedDepthVideoModes ( ) const

Definition at line 495 of file astra_device.cpp.

const std::vector< AstraVideoMode > & astra_wrapper::AstraDevice::getSupportedIRVideoModes ( ) const

Definition at line 463 of file astra_device.cpp.

const std::string astra_wrapper::AstraDevice::getUri ( ) const

Definition at line 126 of file astra_device.cpp.

uint16_t astra_wrapper::AstraDevice::getUsbProductId ( ) const

Definition at line 146 of file astra_device.cpp.

uint16_t astra_wrapper::AstraDevice::getUsbVendorId ( ) const

Definition at line 141 of file astra_device.cpp.

const std::string astra_wrapper::AstraDevice::getVendor ( ) const

Definition at line 131 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::hasColorSensor ( ) const

Definition at line 347 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::hasDepthSensor ( ) const

Definition at line 352 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::hasIRSensor ( ) const

Definition at line 342 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::isColorStreamStarted ( )

Definition at line 454 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::isColorVideoModeSupported ( const AstraVideoMode & video_mode ) const

Definition at line 305 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::isDepthStreamStarted ( )

Definition at line 458 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::isDepthVideoModeSupported ( const AstraVideoMode & video_mode ) const

Definition at line 323 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::isImageRegistrationModeSupported ( ) const

Definition at line 511 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::isIRStreamStarted ( )

Definition at line 450 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::isIRVideoModeSupported ( const AstraVideoMode & video_mode ) const

Definition at line 287 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::isValid ( ) const

Definition at line 162 of file astra_device.cpp.

void astra_wrapper::AstraDevice::setAutoExposure ( bool enable )

Definition at line 636 of file astra_device.cpp.

void astra_wrapper::AstraDevice::setAutoWhiteBalance ( bool enable )

Definition at line 652 of file astra_device.cpp.

void astra_wrapper::AstraDevice::setCameraParams ( OBCameraParams param )

Definition at line 203 of file astra_device.cpp.

void astra_wrapper::AstraDevice::setColorFrameCallback ( FrameCallbackFunction callback )

Definition at line 717 of file astra_device.cpp.

void astra_wrapper::AstraDevice::setColorVideoMode ( const AstraVideoMode & video_mode )

Definition at line 610 of file astra_device.cpp.

void astra_wrapper::AstraDevice::setDepthColorSync ( bool enabled )

Definition at line 536 of file astra_device.cpp.

void astra_wrapper::AstraDevice::setDepthFrameCallback ( FrameCallbackFunction callback )

Definition at line 722 of file astra_device.cpp.

void astra_wrapper::AstraDevice::setDepthVideoMode ( const AstraVideoMode & video_mode )

Definition at line 623 of file astra_device.cpp.

void astra_wrapper::AstraDevice::setImageRegistrationMode ( bool enabled )

Definition at line 516 of file astra_device.cpp.

void astra_wrapper::AstraDevice::setIRExposure ( int exposure )

Definition at line 215 of file astra_device.cpp.

void astra_wrapper::AstraDevice::setIRFlood ( bool enable )

Definition at line 232 of file astra_device.cpp.

void astra_wrapper::AstraDevice::setIRFrameCallback ( FrameCallbackFunction callback )

Definition at line 712 of file astra_device.cpp.

void astra_wrapper::AstraDevice::setIRGain ( int gain )

Definition at line 209 of file astra_device.cpp.

void astra_wrapper::AstraDevice::setIRVideoMode ( const AstraVideoMode & video_mode )

Definition at line 597 of file astra_device.cpp.

void astra_wrapper::AstraDevice::setLaser ( bool enable )

Definition at line 221 of file astra_device.cpp.

void astra_wrapper::AstraDevice::setUseDeviceTimer ( bool enable )

Definition at line 700 of file astra_device.cpp.

void astra_wrapper::AstraDevice::shutdown ( ) [protected]

Definition at line 437 of file astra_device.cpp.

void astra_wrapper::AstraDevice::startColorStream ( )

Definition at line 371 of file astra_device.cpp.

void astra_wrapper::AstraDevice::startDepthStream ( )

Definition at line 383 of file astra_device.cpp.

void astra_wrapper::AstraDevice::startIRStream ( )

Definition at line 357 of file astra_device.cpp.

void astra_wrapper::AstraDevice::stopAllStreams ( )

Definition at line 396 of file astra_device.cpp.

void astra_wrapper::AstraDevice::stopColorStream ( )

Definition at line 414 of file astra_device.cpp.

void astra_wrapper::AstraDevice::stopDepthStream ( )

Definition at line 425 of file astra_device.cpp.

void astra_wrapper::AstraDevice::stopIRStream ( )

Definition at line 403 of file astra_device.cpp.

Member Data Documentation

boost::shared_ptr<AstraFrameListener> astra_wrapper::AstraDevice::color_frame_listener [protected]

Definition at line 161 of file astra_device.h.

std::vector<AstraVideoMode> astra_wrapper::AstraDevice::color_video_modes_ [mutable, protected]

Definition at line 169 of file astra_device.h.

bool astra_wrapper::AstraDevice::color_video_started_ [protected]

Definition at line 173 of file astra_device.h.

boost::shared_ptr<openni::VideoStream> astra_wrapper::AstraDevice::color_video_stream_ [mutable, protected]

Definition at line 165 of file astra_device.h.

boost::shared_ptr<AstraFrameListener> astra_wrapper::AstraDevice::depth_frame_listener [protected]

Definition at line 162 of file astra_device.h.

std::vector<AstraVideoMode> astra_wrapper::AstraDevice::depth_video_modes_ [mutable, protected]

Definition at line 170 of file astra_device.h.

bool astra_wrapper::AstraDevice::depth_video_started_ [protected]

Definition at line 174 of file astra_device.h.

boost::shared_ptr<openni::VideoStream> astra_wrapper::AstraDevice::depth_video_stream_ [mutable, protected]

Definition at line 166 of file astra_device.h.

boost::shared_ptr<openni::DeviceInfo> astra_wrapper::AstraDevice::device_info_ [protected]

Definition at line 158 of file astra_device.h.

char astra_wrapper::AstraDevice::device_type[32] [protected]

Definition at line 182 of file astra_device.h.

int astra_wrapper::AstraDevice::device_type_no [protected]

Definition at line 183 of file astra_device.h.

bool astra_wrapper::AstraDevice::image_registration_activated_ [protected]

Definition at line 176 of file astra_device.h.

boost::shared_ptr<AstraFrameListener> astra_wrapper::AstraDevice::ir_frame_listener [protected]

Definition at line 160 of file astra_device.h.

std::vector<AstraVideoMode> astra_wrapper::AstraDevice::ir_video_modes_ [mutable, protected]

Definition at line 168 of file astra_device.h.

bool astra_wrapper::AstraDevice::ir_video_started_ [protected]

Definition at line 172 of file astra_device.h.

boost::shared_ptr<openni::VideoStream> astra_wrapper::AstraDevice::ir_video_stream_ [mutable, protected]

Definition at line 164 of file astra_device.h.

OBCameraParams astra_wrapper::AstraDevice::m_CamParams [protected]

Definition at line 180 of file astra_device.h.

boost::shared_ptr<openni::Device> astra_wrapper::AstraDevice::openni_device_ [protected]

Definition at line 157 of file astra_device.h.

char astra_wrapper::AstraDevice::serial_number[12] [protected]

Definition at line 181 of file astra_device.h.

bool astra_wrapper::AstraDevice::use_device_time_ [protected]

Definition at line 178 of file astra_device.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation