Public Member Functions | Private Member Functions | Private Attributes
openni::Device Class Reference

#include <OpenNI.h>

List of all members.

Public Member Functions

OniDeviceHandle _getHandle () const
Status _openEx (const char *uri, const char *mode)
void close ()
 Device ()
 Device (OniDeviceHandle handle)
bool getDepthColorSyncEnabled ()
const DeviceInfogetDeviceInfo () const
int getGain ()
ImageRegistrationMode getImageRegistrationMode () const
PlaybackControlgetPlaybackControl ()
Status getProperty (int propertyId, void *data, int *dataSize) const
template<class T >
Status getProperty (int propertyId, T *value) const
const SensorInfogetSensorInfo (SensorType sensorType)
bool hasSensor (SensorType sensorType)
Status invoke (int commandId, void *data, int dataSize)
template<class T >
Status invoke (int propertyId, T &value)
bool isCommandSupported (int commandId) const
bool isFile () const
bool isImageRegistrationModeSupported (ImageRegistrationMode mode) const
bool isPropertySupported (int propertyId) const
bool isValid () const
Status open (const char *uri)
Status setDepthColorSyncEnabled (bool isEnabled)
void setGain (int gain)
Status setImageRegistrationMode (ImageRegistrationMode mode)
Status setProperty (int propertyId, const void *data, int dataSize)
template<class T >
Status setProperty (int propertyId, const T &value)
 ~Device ()

Private Member Functions

Status _setHandle (OniDeviceHandle deviceHandle)
void clearSensors ()
 Device (const Device &)
Deviceoperator= (const Device &)

Private Attributes

SensorInfo m_aSensorInfo [ONI_MAX_SENSORS]
OniDeviceHandle m_device
DeviceInfo m_deviceInfo
bool m_isOwner
PlaybackControlm_pPlaybackControl

Detailed Description

The Device object abstracts a specific device; either a single hardware device, or a file device holding a recording from a hardware device. It offers the ability to connect to the device, and obtain information about its configuration and the data streams it can offer.

It provides the means to query and change all configuration parameters that apply to the device as a whole. This includes enabling depth/color image registration and frame synchronization.

Devices are used when creating and initializing VideoStreams -- you will need a valid pointer to a Device in order to use the VideoStream.create() function. This, along with configuration, is the primary use of this class for application developers.

Before devices can be created, OpenNI::initialize() must have been run to make the device drivers on the system available to the API.

Definition at line 1279 of file OpenNI.h.


Constructor & Destructor Documentation

openni::Device::Device ( ) [inline]

Default constructor. Creates a new empty Device object. This object will be invalid until it is initialized by calling its open() function.

Definition at line 1286 of file OpenNI.h.

openni::Device::Device ( OniDeviceHandle  handle) [inline, explicit]

Handle constructor. Creates a Device object based on the given initialized handle. This object will not destroy the underlying handle when close() or destructor is called

Definition at line 1295 of file OpenNI.h.

The destructor calls the close() function, but it is considered a best practice for applications to call close() manually on any Device that they run open() on.

Definition at line 1304 of file OpenNI.h.

openni::Device::Device ( const Device ) [private]

Member Function Documentation

Definition at line 1437 of file OpenNI.h.

Status openni::Device::_openEx ( const char *  uri,
const char *  mode 
) [inline]

Definition at line 2737 of file OpenNI.h.

Status openni::Device::_setHandle ( OniDeviceHandle  deviceHandle) [inline, private]

Definition at line 2761 of file OpenNI.h.

void openni::Device::clearSensors ( ) [inline, private]

Definition at line 1675 of file OpenNI.h.

void openni::Device::close ( ) [inline]

Closes the device. This properly closes any files or shuts down hardware, as appropriate. This function is currently called by the destructor if not called manually by application code, but it is considered a best practice to manually close any device that was opened.

Definition at line 2783 of file OpenNI.h.

Definition at line 1582 of file OpenNI.h.

const DeviceInfo& openni::Device::getDeviceInfo ( ) const [inline]

Provides information about this device in the form of a DeviceInfo object. This object can be used to access the URI of the device, as well as various USB descriptor strings that might be useful to an application.

Note that valid device info will not be available if this device has not yet been opened. If you are trying to obtain a URI to open a device, use OpenNI::enumerateDevices() instead.

Returns:
DeviceInfo object for this Device

Definition at line 1359 of file OpenNI.h.

int openni::Device::getGain ( ) [inline]

Definition at line 1484 of file OpenNI.h.

Gets the current image registration mode of this device. Image registration is used to properly superimpose two images from cameras located at different points in space. Please see the OpenNi 2.0 Programmer's Guide for more information about registration.

Returns:
Current image registration mode. See ImageRegistrationMode for possible return values.

Definition at line 1509 of file OpenNI.h.

Gets an object through which playback of a file device can be controlled.

Returns:
NULL if this device is not a file device.

Definition at line 1446 of file OpenNI.h.

Status openni::Device::getProperty ( int  propertyId,
void *  data,
int *  dataSize 
) const [inline]

Get the value of a general property of the device. There are convenience functions for all the commonly used properties, such as image registration and frame synchronization. It is expected for this reason that this function will rarely be directly used by applications.

Parameters:
[in]propertyIdNumerical ID of the property you would like to check.
[out]dataPlace to store the value of the property.
[in,out]dataSizeIN: Size of the buffer passed in the data argument. OUT: the actual written size.
Returns:
Status code indicating results of this operation.

Definition at line 1459 of file OpenNI.h.

template<class T >
Status openni::Device::getProperty ( int  propertyId,
T value 
) const [inline]

Checks a property that provides an arbitrary data type as its output. It is not expected that application code will need this function frequently, as all commonly used properties have higher level functions provided.

Template Parameters:
[in]T Data type of the value to be read.
Parameters:
[in]propertyIdThe numerical ID of the property to be read.
[in,out]valuePointer to a place to store the value read from the property.
Returns:
Status code indicating success or failure of this operation.

Definition at line 1613 of file OpenNI.h.

const SensorInfo* openni::Device::getSensorInfo ( SensorType  sensorType) [inline]

Get the SensorInfo for a specific sensor type on this device. The SensorInfo is useful primarily for determining which video modes are supported by the sensor.

Parameters:
[in]sensorTypeof sensor to get information about.
Returns:
SensorInfo object corresponding to the sensor type specified, or NULL if such a sensor is not available from this device.

Definition at line 1406 of file OpenNI.h.

bool openni::Device::hasSensor ( SensorType  sensorType) [inline]

This function checks to see if one of the specific sensor types defined in SensorType is available on this device. This allows an application to, for example, query for the presence of a depth sensor, or color sensor.

Parameters:
[in]sensorTypeof sensor to query for
Returns:
true if the Device supports the sensor queried, false otherwise.

Definition at line 1371 of file OpenNI.h.

Status openni::Device::invoke ( int  commandId,
void *  data,
int  dataSize 
) [inline]

Invokes a command that takes an arbitrary data type as its input. It is not expected that application code will need this function frequently, as all commonly used properties have higher level functions provided.

Parameters:
[in]commandIdNumerical code of the property to be invoked.
[in]dataData to be passed to the property.
[in]dataSizesize of the buffer passed in data.
Returns:
Status code indicating success or failure of this operation.

Definition at line 1638 of file OpenNI.h.

template<class T >
Status openni::Device::invoke ( int  propertyId,
T value 
) [inline]

Invokes a command that takes an arbitrary data type as its input. It is not expected that application code will need this function frequently, as all commonly used properties have higher level functions provided.

Template Parameters:
[in]T Type of data to be passed to the property.
Parameters:
[in]propertyIdNumerical code of the property to be invoked.
[in]valueData to be passed to the property.
Returns:
Status code indicating success or failure of this operation.

Definition at line 1653 of file OpenNI.h.

bool openni::Device::isCommandSupported ( int  commandId) const [inline]

Checks if a specific command is supported by the device.

Parameters:
[in]commandIdCommand to be checked.
Returns:
true if the command is supported, false otherwise.

Definition at line 1663 of file OpenNI.h.

bool openni::Device::isFile ( ) const [inline]

Checks whether this device is a file device (i.e. a recording).

Returns:
true if this is a file device, false otherwise.

Definition at line 1551 of file OpenNI.h.

Checks to see if this device can support registration of color video and depth video. Image registration is used to properly superimpose two images from cameras located at different points in space. Please see the OpenNi 2.0 Programmer's Guide for more information about registration.

Returns:
true if image registration is supported by this device, false otherwise.

Definition at line 1497 of file OpenNI.h.

bool openni::Device::isPropertySupported ( int  propertyId) const [inline]

Checks if a specific property is supported by the device.

Parameters:
[in]propertyIdProperty to be checked.
Returns:
true if the property is supported, false otherwise.

Definition at line 1624 of file OpenNI.h.

bool openni::Device::isValid ( ) const [inline]

Checks whether this Device object is currently connected to an actual file or hardware device.

Returns:
true if the Device is connected, false otherwise.

Definition at line 1542 of file OpenNI.h.

Status openni::Device::open ( const char *  uri) [inline]

Opens a device. This can either open a device chosen arbitrarily from all devices on the system, or open a specific device selected by passing this function the device URI.

To open any device, simply pass the constantANY_DEVICE to this function. If multiple devices are connected to the system, then one of them will be opened. This procedure is most useful when it is known that exactly one device is (or can be) connected to the system. In that case, requesting a list of all devices and iterating through it would be a waste of effort.

If multiple devices are (or may be) connected to a system, then a URI will be required to select a specific device to open. There are two ways to obtain a URI: from a DeviceConnected event, or by calling OpenNI::enumerateDevices().

In the case of a DeviceConnected event, the OpenNI::Listener will be provided with a DeviceInfo object as an argument to its onDeviceConnected() function. The DeviceInfo.getUri() function can then be used to obtain the URI.

If the application is not using event handlers, then it can also call the static function OpenNI::enumerateDevices(). This will return an array of DeviceInfo objects, one for each device currently available to the system. The application can then iterate through this list and select the desired device. The URI is again obtained via the DeviceInfo::getUri() function.

Standard codes of type Status are returned indicating whether opening was successful.

Parameters:
[in]uriString containing the URI of the device to be opened, or ANY_DEVICE.
Returns:
Status code with the outcome of the open operation.
Remarks:
For opening a recording file, pass the file path as a uri.

Definition at line 2713 of file OpenNI.h.

Device& openni::Device::operator= ( const Device ) [private]
Status openni::Device::setDepthColorSyncEnabled ( bool  isEnabled) [inline]

Used to turn the depth/color frame synchronization feature on and off. When frame synchronization is enabled, the device will deliver depth and image frames that are separated in time by some maximum value. When disabled, the phase difference between depth and image frame generation cannot be guaranteed.

Parameters:
[in]isEnabledSet to TRUE to enable synchronization, FALSE to disable it
Returns:
Status code indicating success or failure of this operation

Definition at line 1566 of file OpenNI.h.

void openni::Device::setGain ( int  gain) [inline]

Definition at line 1480 of file OpenNI.h.

Sets the image registration on this device. Image registration is used to properly superimpose two images from cameras located at different points in space. Please see the OpenNi 2.0 Programmer's Guide for more information about registration.

See ImageRegistrationMode for a list of valid settings to pass to this function.

It is a good practice to first check if the mode is supported by calling isImageRegistrationModeSupported().

Parameters:
[in]modeDesired new value for the image registration mode.
Returns:
Status code for the operation.

Definition at line 1533 of file OpenNI.h.

Status openni::Device::setProperty ( int  propertyId,
const void *  data,
int  dataSize 
) [inline]

Sets the value of a general property of the device. There are convenience functions for all the commonly used properties, such as image registration and frame synchronization. It is expected for this reason that this function will rarely be directly used by applications.

Parameters:
[in]propertyIdThe numerical ID of the property to be set.
[in]dataPlace to store the data to be written to the property.
[in]dataSizeSize of the data to be written to the property.
Returns:
Status code indicating results of this operation.

Definition at line 1475 of file OpenNI.h.

template<class T >
Status openni::Device::setProperty ( int  propertyId,
const T value 
) [inline]

Sets a property that takes an arbitrary data type as its input. It is not expected that application code will need this function frequently, as all commonly used properties have higher level functions provided.

Template Parameters:
TType of data to be passed to the property.
Parameters:
[in]propertyIdThe numerical ID of the property to be set.
[in]valuePlace to store the data to be written to the property.
Returns:
Status code indicating success or failure of this operation.

Definition at line 1598 of file OpenNI.h.


Member Data Documentation

Definition at line 1690 of file OpenNI.h.

Definition at line 1688 of file OpenNI.h.

Definition at line 1689 of file OpenNI.h.

bool openni::Device::m_isOwner [private]

Definition at line 1692 of file OpenNI.h.

Definition at line 1686 of file OpenNI.h.


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


astra_camera
Author(s): Tim Liu
autogenerated on Wed Jul 10 2019 03:18:55