Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
astra_wrapper::AstraDevice Class Reference

#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 ()
 
OB_DEVICE_NO 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 isCameraParamsValid ()
 
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 setLDP (bool enable)
 
void setUseDeviceTimer (bool enable)
 
void startColorStream ()
 
void startDepthStream ()
 
void startIRStream ()
 
void stopAllStreams ()
 
void stopColorStream ()
 
void stopDepthStream ()
 
void stopIRStream ()
 
void switchIRCamera (int cam)
 
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]
 
OB_DEVICE_NO 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
 
bool m_ParamsValid
 
boost::shared_ptr< openni::Device > openni_device_
 
char serial_number [12]
 
bool use_device_time_
 

Detailed Description

Definition at line 68 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 127 of file astra_device.cpp.

Member Function Documentation

bool astra_wrapper::AstraDevice::getAutoExposure ( ) const

Definition at line 716 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::getAutoWhiteBalance ( ) const

Definition at line 731 of file astra_device.cpp.

float astra_wrapper::AstraDevice::getBaseline ( ) const

Definition at line 329 of file astra_device.cpp.

OBCameraParams astra_wrapper::AstraDevice::getCameraParams ( ) const

Definition at line 177 of file astra_device.cpp.

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

Definition at line 303 of file astra_device.cpp.

const AstraVideoMode astra_wrapper::AstraDevice::getColorVideoMode ( )

Definition at line 608 of file astra_device.cpp.

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

Definition at line 790 of file astra_device.cpp.

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

Definition at line 316 of file astra_device.cpp.

const AstraVideoMode astra_wrapper::AstraDevice::getDepthVideoMode ( )

Definition at line 626 of file astra_device.cpp.

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

Definition at line 806 of file astra_device.cpp.

char * astra_wrapper::AstraDevice::getDeviceType ( )

Definition at line 192 of file astra_device.cpp.

OB_DEVICE_NO astra_wrapper::AstraDevice::getDeviceTypeNo ( )

Definition at line 197 of file astra_device.cpp.

int astra_wrapper::AstraDevice::getIRExposure ( ) const

Definition at line 210 of file astra_device.cpp.

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

Definition at line 290 of file astra_device.cpp.

int astra_wrapper::AstraDevice::getIRGain ( ) const

Definition at line 202 of file astra_device.cpp.

const AstraVideoMode astra_wrapper::AstraDevice::getIRVideoMode ( )

Definition at line 590 of file astra_device.cpp.

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

Definition at line 774 of file astra_device.cpp.

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

Definition at line 146 of file astra_device.cpp.

char * astra_wrapper::AstraDevice::getSerialNumber ( )

Definition at line 187 of file astra_device.cpp.

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

Definition at line 161 of file astra_device.cpp.

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

Definition at line 526 of file astra_device.cpp.

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

Definition at line 542 of file astra_device.cpp.

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

Definition at line 510 of file astra_device.cpp.

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

Definition at line 136 of file astra_device.cpp.

uint16_t astra_wrapper::AstraDevice::getUsbProductId ( ) const

Definition at line 156 of file astra_device.cpp.

uint16_t astra_wrapper::AstraDevice::getUsbVendorId ( ) const

Definition at line 151 of file astra_device.cpp.

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

Definition at line 141 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::hasColorSensor ( ) const

Definition at line 394 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::hasDepthSensor ( ) const

Definition at line 399 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::hasIRSensor ( ) const

Definition at line 389 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::isCameraParamsValid ( )

Definition at line 182 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::isColorStreamStarted ( )

Definition at line 501 of file astra_device.cpp.

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

Definition at line 352 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::isDepthStreamStarted ( )

Definition at line 505 of file astra_device.cpp.

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

Definition at line 370 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::isImageRegistrationModeSupported ( ) const

Definition at line 558 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::isIRStreamStarted ( )

Definition at line 497 of file astra_device.cpp.

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

Definition at line 334 of file astra_device.cpp.

bool astra_wrapper::AstraDevice::isValid ( ) const

Definition at line 172 of file astra_device.cpp.

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

Definition at line 683 of file astra_device.cpp.

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

Definition at line 699 of file astra_device.cpp.

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

Definition at line 218 of file astra_device.cpp.

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

Definition at line 764 of file astra_device.cpp.

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

Definition at line 657 of file astra_device.cpp.

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

Definition at line 583 of file astra_device.cpp.

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

Definition at line 769 of file astra_device.cpp.

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

Definition at line 670 of file astra_device.cpp.

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

Definition at line 563 of file astra_device.cpp.

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

Definition at line 230 of file astra_device.cpp.

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

Definition at line 247 of file astra_device.cpp.

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

Definition at line 759 of file astra_device.cpp.

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

Definition at line 224 of file astra_device.cpp.

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

Definition at line 644 of file astra_device.cpp.

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

Definition at line 236 of file astra_device.cpp.

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

Definition at line 258 of file astra_device.cpp.

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

Definition at line 747 of file astra_device.cpp.

void astra_wrapper::AstraDevice::shutdown ( )
protected

Definition at line 484 of file astra_device.cpp.

void astra_wrapper::AstraDevice::startColorStream ( )

Definition at line 418 of file astra_device.cpp.

void astra_wrapper::AstraDevice::startDepthStream ( )

Definition at line 430 of file astra_device.cpp.

void astra_wrapper::AstraDevice::startIRStream ( )

Definition at line 404 of file astra_device.cpp.

void astra_wrapper::AstraDevice::stopAllStreams ( )

Definition at line 443 of file astra_device.cpp.

void astra_wrapper::AstraDevice::stopColorStream ( )

Definition at line 461 of file astra_device.cpp.

void astra_wrapper::AstraDevice::stopDepthStream ( )

Definition at line 472 of file astra_device.cpp.

void astra_wrapper::AstraDevice::stopIRStream ( )

Definition at line 450 of file astra_device.cpp.

void astra_wrapper::AstraDevice::switchIRCamera ( int  cam)

Definition at line 282 of file astra_device.cpp.

Member Data Documentation

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

Definition at line 166 of file astra_device.h.

std::vector<AstraVideoMode> astra_wrapper::AstraDevice::color_video_modes_
mutableprotected

Definition at line 174 of file astra_device.h.

bool astra_wrapper::AstraDevice::color_video_started_
protected

Definition at line 178 of file astra_device.h.

boost::shared_ptr<openni::VideoStream> astra_wrapper::AstraDevice::color_video_stream_
mutableprotected

Definition at line 170 of file astra_device.h.

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

Definition at line 167 of file astra_device.h.

std::vector<AstraVideoMode> astra_wrapper::AstraDevice::depth_video_modes_
mutableprotected

Definition at line 175 of file astra_device.h.

bool astra_wrapper::AstraDevice::depth_video_started_
protected

Definition at line 179 of file astra_device.h.

boost::shared_ptr<openni::VideoStream> astra_wrapper::AstraDevice::depth_video_stream_
mutableprotected

Definition at line 171 of file astra_device.h.

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

Definition at line 163 of file astra_device.h.

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

Definition at line 188 of file astra_device.h.

OB_DEVICE_NO astra_wrapper::AstraDevice::device_type_no
protected

Definition at line 189 of file astra_device.h.

bool astra_wrapper::AstraDevice::image_registration_activated_
protected

Definition at line 181 of file astra_device.h.

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

Definition at line 165 of file astra_device.h.

std::vector<AstraVideoMode> astra_wrapper::AstraDevice::ir_video_modes_
mutableprotected

Definition at line 173 of file astra_device.h.

bool astra_wrapper::AstraDevice::ir_video_started_
protected

Definition at line 177 of file astra_device.h.

boost::shared_ptr<openni::VideoStream> astra_wrapper::AstraDevice::ir_video_stream_
mutableprotected

Definition at line 169 of file astra_device.h.

OBCameraParams astra_wrapper::AstraDevice::m_CamParams
protected

Definition at line 185 of file astra_device.h.

bool astra_wrapper::AstraDevice::m_ParamsValid
protected

Definition at line 186 of file astra_device.h.

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

Definition at line 162 of file astra_device.h.

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

Definition at line 187 of file astra_device.h.

bool astra_wrapper::AstraDevice::use_device_time_
protected

Definition at line 183 of file astra_device.h.

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

astra_camera
Author(s): Tim Liu
autogenerated on Wed Dec 16 2020 03:54:34