openni_wrapper::DeviceKinect Class Reference

Concrete implementation of the interface OpenNIDevice for a MS Kinect device. More...

#include <openni_device_kinect.h>

Inheritance diagram for openni_wrapper::DeviceKinect:

Public Member Functions
	DeviceKinect (xn::Context &context, const xn::NodeInfo &device_node, const xn::NodeInfo &image_node, const xn::NodeInfo &depth_node, const xn::NodeInfo &ir_node) throw (OpenNIException)
const ImageBayerGRBG::DebayeringMethod &	getDebayeringMethod () const throw ()
virtual bool	isDepthCropped () const throw (OpenNIException)
virtual bool	isDepthCroppingSupported () const throw ()
virtual bool	isSynchronizationSupported () const throw ()
virtual bool	isSynchronized () const throw (OpenNIException)
void	setDebayeringMethod (const ImageBayerGRBG::DebayeringMethod &debayering_method) throw ()
virtual void	setDepthCropping (unsigned x, unsigned y, unsigned width, unsigned height) throw (OpenNIException)
virtual void	setSynchronization (bool on_off) throw (OpenNIException)
virtual	~DeviceKinect () throw ()
Public Member Functions inherited from openni_wrapper::OpenNIDevice
virtual bool	findCompatibleDepthMode (const XnMapOutputMode &output_mode, XnMapOutputMode &mode) const throw (OpenNIException)
virtual bool	findCompatibleImageMode (const XnMapOutputMode &output_mode, XnMapOutputMode &mode) const throw (OpenNIException)
unsigned char	getAddress () const throw ()
float	getBaseline () const throw ()
unsigned char	getBus () const throw ()
const char *	getConnectionString () const throw ()
	returns the connectionstring for current device, which has following format vendorID/productID@BusID/DeviceID More...
virtual const XnMapOutputMode &	getDefaultDepthMode () const throw ()
virtual const XnMapOutputMode &	getDefaultImageMode () const throw ()
virtual const XnMapOutputMode &	getDefaultIRMode () const throw ()
float	getDepthFocalLength (int output_x_resolution=0) const throw ()
	returns the focal length for the IR camera in pixels. The pixels are assumed to be square. Result depends on the output resolution of the depth image. More...
XnMapOutputMode	getDepthOutputMode () const throw (OpenNIException)
float	getImageFocalLength (int output_x_resolution=0) const throw ()
	returns the focal length for the color camera in pixels. The pixels are assumed to be square. Result depends on the output resolution of the image. More...
XnMapOutputMode	getImageOutputMode () const throw (OpenNIException)
XnMapOutputMode	getIROutputMode () const throw (OpenNIException)
unsigned short	getProductID () const throw ()
const char *	getProductName () const throw ()
const char *	getSerialNumber () throw ()
	returns the serial number for device. More...
unsigned short	getVendorID () const throw ()
const char *	getVendorName () const throw ()
bool	hasDepthStream () const throw ()
bool	hasImageStream () const throw ()
bool	hasIRStream () const throw ()
virtual bool	isDepthModeSupported (const XnMapOutputMode &output_mode) const throw (OpenNIException)
bool	isDepthRegistered () const throw (OpenNIException)
virtual bool	isDepthRegistrationSupported () const throw (OpenNIException)
virtual bool	isDepthStreamRunning () const throw (OpenNIException)
virtual bool	isImageModeSupported (const XnMapOutputMode &output_mode) const throw (OpenNIException)
virtual bool	isImageStreamRunning () const throw (OpenNIException)
virtual bool	isIRStreamRunning () const throw (OpenNIException)
CallbackHandle	registerDepthCallback (const DepthImageCallbackFunction &callback, void *cookie=NULL) throw ()
template<typename T >
CallbackHandle	registerDepthCallback (void(T::*callback)(boost::shared_ptr< DepthImage >, void *cookie), T &instance, void *cookie=NULL) throw ()
CallbackHandle	registerImageCallback (const ImageCallbackFunction &callback, void *cookie=NULL) throw ()
template<typename T >
CallbackHandle	registerImageCallback (void(T::*callback)(boost::shared_ptr< Image >, void *cookie), T &instance, void *cookie=NULL) throw ()
CallbackHandle	registerIRCallback (const IRImageCallbackFunction &callback, void *cookie=NULL) throw ()
template<typename T >
CallbackHandle	registerIRCallback (void(T::*callback)(boost::shared_ptr< IRImage >, void *cookie), T &instance, void *cookie=NULL) throw ()
virtual void	setDepthOutputMode (const XnMapOutputMode &output_mode) throw (OpenNIException)
virtual void	setDepthRegistration (bool on_off) throw (OpenNIException)
virtual void	setImageOutputMode (const XnMapOutputMode &output_mode) throw (OpenNIException)
virtual void	setIROutputMode (const XnMapOutputMode &output_mode) throw (OpenNIException)
void	shutdown ()
virtual void	startDepthStream () throw (OpenNIException)
virtual void	startImageStream () throw (OpenNIException)
virtual void	startIRStream () throw (OpenNIException)
virtual void	stopDepthStream () throw (OpenNIException)
virtual void	stopImageStream () throw (OpenNIException)
virtual void	stopIRStream () throw (OpenNIException)
bool	unregisterDepthCallback (const CallbackHandle &callbackHandle) throw ()
bool	unregisterImageCallback (const CallbackHandle &callbackHandle) throw ()
bool	unregisterIRCallback (const CallbackHandle &callbackHandle) throw ()
virtual	~OpenNIDevice () throw ()

Protected Member Functions
virtual void	enumAvailableModes () throw (OpenNIException)
virtual boost::shared_ptr< Image >	getCurrentImage (boost::shared_ptr< xn::ImageMetaData > image_meta_data) const throw ()
virtual bool	isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ()
Protected Member Functions inherited from openni_wrapper::OpenNIDevice
void	DepthDataThreadFunction () throw (OpenNIException)
void	ImageDataThreadFunction () throw (OpenNIException)
void	Init () throw (OpenNIException)
void	IRDataThreadFunction () throw (OpenNIException)
	OpenNIDevice (xn::Context &context, const xn::NodeInfo &device_node, const xn::NodeInfo &image_node, const xn::NodeInfo &depth_node, const xn::NodeInfo &ir_node) throw (OpenNIException)
	OpenNIDevice (xn::Context &context, const xn::NodeInfo &device_node, const xn::NodeInfo &depth_node, const xn::NodeInfo &ir_node) throw (OpenNIException)
	OpenNIDevice (xn::Context &context) throw (OpenNIException)
void	setRegistration (bool on_off) throw (OpenNIException)

Protected Attributes
ImageBayerGRBG::DebayeringMethod	debayering_method_
Protected Attributes inherited from openni_wrapper::OpenNIDevice
std::vector< XnMapOutputMode >	available_depth_modes_
std::vector< XnMapOutputMode >	available_image_modes_
float	baseline_
	distance between the projector and the IR camera More...
xn::Context &	context_
	context to OpenNI driver More...
boost::thread_group	data_threads_
std::map< CallbackHandle, ActualDepthImageCallbackFunction >	depth_callback_
XnCallbackHandle	depth_callback_handle_
OpenNIDevice::CallbackHandle	depth_callback_handle_counter_
boost::condition_variable	depth_condition_
float	depth_focal_length_SXGA_
	focal length for IR camera producing depth information in native SXGA mode More...
xn::DepthGenerator	depth_generator_
	Depth generator object. More...
boost::mutex	depth_mutex_
xn::NodeInfo	device_node_info_
	node object for current device More...
std::map< CallbackHandle, ActualImageCallbackFunction >	image_callback_
XnCallbackHandle	image_callback_handle_
OpenNIDevice::CallbackHandle	image_callback_handle_counter_
boost::condition_variable	image_condition_
xn::ImageGenerator	image_generator_
	Image generator object. More...
boost::mutex	image_mutex_
std::map< CallbackHandle, ActualIRImageCallbackFunction >	ir_callback_
XnCallbackHandle	ir_callback_handle_
OpenNIDevice::CallbackHandle	ir_callback_handle_counter_
boost::condition_variable	ir_condition_
xn::IRGenerator	ir_generator_
	IR generator object. More...
boost::mutex	ir_mutex_
XnUInt64	no_sample_value_
bool	quit_
XnUInt64	shadow_value_

Friends
class	OpenNIDriver

Additional Inherited Members
Public Types inherited from openni_wrapper::OpenNIDevice
typedef unsigned	CallbackHandle
typedef boost::function< void(boost::shared_ptr< DepthImage >, void *cookie) >	DepthImageCallbackFunction
typedef boost::function< void(boost::shared_ptr< Image >, void *cookie) >	ImageCallbackFunction
typedef boost::function< void(boost::shared_ptr< IRImage >, void *cookie) >	IRImageCallbackFunction
Protected Types inherited from openni_wrapper::OpenNIDevice
typedef boost::function< void(boost::shared_ptr< DepthImage >) >	ActualDepthImageCallbackFunction
typedef boost::function< void(boost::shared_ptr< Image >) >	ActualImageCallbackFunction
typedef boost::function< void(boost::shared_ptr< IRImage >) >	ActualIRImageCallbackFunction
Static Protected Member Functions inherited from openni_wrapper::OpenNIDevice
static void __stdcall	NewDepthDataAvailable (xn::ProductionNode &node, void *cookie) throw ()
static void __stdcall	NewImageDataAvailable (xn::ProductionNode &node, void *cookie) throw ()
static void __stdcall	NewIRDataAvailable (xn::ProductionNode &node, void *cookie) throw ()
Static Protected Attributes inherited from openni_wrapper::OpenNIDevice
static const float	rgb_focal_length_SXGA_ = 1050
	focal length for regular camera producing color images in native SXGA mode More...

Detailed Description

Concrete implementation of the interface OpenNIDevice for a MS Kinect device.

Author

Suat Gedikli

Date

02.january 2011

Definition at line 53 of file openni_device_kinect.h.

Constructor & Destructor Documentation

openni_wrapper::DeviceKinect::DeviceKinect	(	xn::Context &	context,
		const xn::NodeInfo &	device_node,
		const xn::NodeInfo &	image_node,
		const xn::NodeInfo &	depth_node,
		const xn::NodeInfo &	ir_node
	)
throw	(	OpenNIException
	)

Definition at line 48 of file openni_device_kinect.cpp.

openni_wrapper::DeviceKinect::~DeviceKinect ( ) throw ( )

virtual

Definition at line 80 of file openni_device_kinect.cpp.

Member Function Documentation

void openni_wrapper::DeviceKinect::enumAvailableModes ( ) throw ( OpenNIException )

protectedvirtual

Reimplemented from openni_wrapper::OpenNIDevice.

Definition at line 96 of file openni_device_kinect.cpp.

boost::shared_ptr< Image > openni_wrapper::DeviceKinect::getCurrentImage ( boost::shared_ptr< xn::ImageMetaData >  image_meta_data ) const throw ( )

protectedvirtual

Implements openni_wrapper::OpenNIDevice.

Definition at line 114 of file openni_device_kinect.cpp.

const ImageBayerGRBG::DebayeringMethod & openni_wrapper::DeviceKinect::getDebayeringMethod ( ) const throw ( )

inline

Definition at line 84 of file openni_device_kinect.h.

bool openni_wrapper::DeviceKinect::isDepthCropped ( ) const throw ( OpenNIException )

virtual

Reimplemented from openni_wrapper::OpenNIDevice.

Definition at line 135 of file openni_device_kinect.cpp.

bool openni_wrapper::DeviceKinect::isDepthCroppingSupported ( ) const throw ( )

virtual

Reimplemented from openni_wrapper::OpenNIDevice.

Definition at line 146 of file openni_device_kinect.cpp.

bool openni_wrapper::DeviceKinect::isImageResizeSupported ( unsigned  input_width, unsigned  input_height, unsigned  output_width, unsigned  output_height  ) const throw ( )

protectedvirtual

Implements openni_wrapper::OpenNIDevice.

Definition at line 91 of file openni_device_kinect.cpp.

bool openni_wrapper::DeviceKinect::isSynchronizationSupported ( ) const throw ( )

virtual

Reimplemented from openni_wrapper::OpenNIDevice.

Definition at line 130 of file openni_device_kinect.cpp.

bool openni_wrapper::DeviceKinect::isSynchronized ( ) const throw ( OpenNIException )

virtual

Reimplemented from openni_wrapper::OpenNIDevice.

Definition at line 125 of file openni_device_kinect.cpp.

void openni_wrapper::DeviceKinect::setDebayeringMethod ( const ImageBayerGRBG::DebayeringMethod &  debayering_method ) throw ( )

inline

Definition at line 79 of file openni_device_kinect.h.

void openni_wrapper::DeviceKinect::setDepthCropping ( unsigned  x, unsigned  y, unsigned  width, unsigned  height  ) throw ( OpenNIException )

virtual

Reimplemented from openni_wrapper::OpenNIDevice.

Definition at line 140 of file openni_device_kinect.cpp.

void openni_wrapper::DeviceKinect::setSynchronization ( bool  on_off ) throw ( OpenNIException )

virtual

Reimplemented from openni_wrapper::OpenNIDevice.

Definition at line 119 of file openni_device_kinect.cpp.

Friends And Related Function Documentation

friend class OpenNIDriver

friend

Definition at line 55 of file openni_device_kinect.h.

Member Data Documentation

ImageBayerGRBG::DebayeringMethod openni_wrapper::DeviceKinect::debayering_method_

protected

Definition at line 76 of file openni_device_kinect.h.

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

• openni_device_kinect.h
• openni_device_kinect.cpp