#include <freenect_device.hpp>

Inheritance diagram for freenect_camera::FreenectDevice:

Public Member Functions
bool	findCompatibleDepthMode (const OutputMode &mode, OutputMode &compatible_mode) const
bool	findCompatibleImageMode (const OutputMode &mode, OutputMode &compatible_mode) const
void	flushDeviceStreams ()
	FreenectDevice (freenect_context *driver, std::string serial)
unsigned	getAddress () const
float	getBaseline () const
unsigned	getBus () const
OutputMode	getDefaultDepthMode () const
OutputMode	getDefaultImageMode () const
OutputMode	getDepthOutputMode ()
OutputMode	getImageOutputMode ()
const char *	getProductName () const
const char *	getSerialNumber () const
bool	hasDepthStream () const
bool	hasImageStream () const
bool	hasIRStream () const
bool	isDepthRegistered ()
bool	isDepthRegistrationSupported () const
bool	isDepthStreamRunning ()
bool	isImageStreamRunning ()
bool	isIRStreamRunning ()
bool	isSynchronizationSupported () const
bool	isSynchronized () const
void	openDevice (freenect_context *driver, std::string serial)
void	publishersAreReady ()
template<typename T >
void	registerDepthCallback (void(T::callback)(const ImageBuffer &depth_image, void cookie), T &instance, void *cookie=NULL)
template<typename T >
void	registerImageCallback (void(T::callback)(const ImageBuffer &image, void cookie), T &instance, void *cookie=NULL)
template<typename T >
void	registerIRCallback (void(T::callback)(const ImageBuffer &ir_image, void cookie), T &instance, void *cookie=NULL)
void	setDepthOutputMode (OutputMode mode)
void	setDepthRegistration (bool enable)
void	setImageOutputMode (OutputMode mode)
bool	setSynchronization (bool on_off) const
void	shutdown ()
void	startDepthStream ()
void	startImageStream ()
void	startIRStream ()
void	stopDepthStream ()
void	stopImageStream ()
void	stopIRStream ()
	~FreenectDevice ()
Static Public Member Functions
static void	freenectDepthCallback (freenect_device dev, void depth, uint32_t timestamp)
static void	freenectVideoCallback (freenect_device dev, void video, uint32_t timestamp)
Private Member Functions
bool	_isImageModeEnabled ()
void	depthCallback (void *depth)
void	executeChanges ()
void	videoCallback (void *video)
Private Attributes
ImageBuffer	depth_buffer_
boost::function< void(const ImageBuffer &)>	depth_callback_
freenect_device *	device_
bool	device_flush_enabled_
boost::posix_time::ptime	device_flush_start_time_
std::string	device_serial_
freenect_context *	driver_
boost::function< void(const ImageBuffer &)>	image_callback_
boost::function< void(const ImageBuffer &)>	ir_callback_
boost::recursive_mutex	m_settings_
freenect_depth_format	new_depth_format_
freenect_resolution	new_depth_resolution_
freenect_video_format	new_video_format_
freenect_resolution	new_video_resolution_
bool	publishers_ready_
freenect_registration	registration_
bool	should_stream_depth_
bool	should_stream_video_
bool	streaming_depth_
bool	streaming_video_
ImageBuffer	video_buffer_
Friends
class	FreenectDriver

Detailed Description

Definition at line 29 of file freenect_device.hpp.

Constructor & Destructor Documentation

freenect_camera::FreenectDevice::FreenectDevice	(	freenect_context *	driver,
		std::string	serial
	)		`[inline]`

Definition at line 33 of file freenect_device.hpp.

freenect_camera::FreenectDevice::~FreenectDevice ( ) [inline]

Definition at line 54 of file freenect_device.hpp.

Member Function Documentation

bool freenect_camera::FreenectDevice::_isImageModeEnabled ( ) [inline, private]

Definition at line 432 of file freenect_device.hpp.

void freenect_camera::FreenectDevice::depthCallback ( void * depth ) [inline, private]

Definition at line 437 of file freenect_device.hpp.

void freenect_camera::FreenectDevice::executeChanges ( ) [inline, private]

ROS_INFO("change video called %i", should_stream_video_);

Definition at line 327 of file freenect_device.hpp.

bool freenect_camera::FreenectDevice::findCompatibleDepthMode	(	const OutputMode &	mode,
		OutputMode &	compatible_mode
	)		const `[inline]`

Definition at line 239 of file freenect_device.hpp.

bool freenect_camera::FreenectDevice::findCompatibleImageMode	(	const OutputMode &	mode,
		OutputMode &	compatible_mode
	)		const `[inline]`

Definition at line 176 of file freenect_device.hpp.

void freenect_camera::FreenectDevice::flushDeviceStreams ( ) [inline]

Definition at line 58 of file freenect_device.hpp.

static void freenect_camera::FreenectDevice::freenectDepthCallback	(	freenect_device *	dev,
		void *	depth,
		uint32_t	timestamp
	)		`[inline, static]`

Definition at line 278 of file freenect_device.hpp.

static void freenect_camera::FreenectDevice::freenectVideoCallback	(	freenect_device *	dev,
		void *	video,
		uint32_t	timestamp
	)		`[inline, static]`

Definition at line 286 of file freenect_device.hpp.

unsigned freenect_camera::FreenectDevice::getAddress ( ) const [inline]

Unsupported

Definition at line 89 of file freenect_device.hpp.

float freenect_camera::FreenectDevice::getBaseline ( ) const [inline]

Get the baseline (distance between rgb/depth sensor)

Definition at line 132 of file freenect_device.hpp.

unsigned freenect_camera::FreenectDevice::getBus ( ) const [inline]

Unsupported

Definition at line 84 of file freenect_device.hpp.

OutputMode freenect_camera::FreenectDevice::getDefaultDepthMode ( ) const [inline]

Definition at line 235 of file freenect_device.hpp.

OutputMode freenect_camera::FreenectDevice::getDefaultImageMode ( ) const [inline]

Definition at line 172 of file freenect_device.hpp.

OutputMode freenect_camera::FreenectDevice::getDepthOutputMode ( ) [inline]

Definition at line 225 of file freenect_device.hpp.

OutputMode freenect_camera::FreenectDevice::getImageOutputMode ( ) [inline]

Definition at line 162 of file freenect_device.hpp.

const char* freenect_camera::FreenectDevice::getProductName ( ) const [inline]

Definition at line 93 of file freenect_device.hpp.

const char* freenect_camera::FreenectDevice::getSerialNumber ( ) const [inline]

Definition at line 97 of file freenect_device.hpp.

bool freenect_camera::FreenectDevice::hasDepthStream ( ) const [inline]

Definition at line 105 of file freenect_device.hpp.

bool freenect_camera::FreenectDevice::hasImageStream ( ) const [inline]

Definition at line 101 of file freenect_device.hpp.

bool freenect_camera::FreenectDevice::hasIRStream ( ) const [inline]

Definition at line 109 of file freenect_device.hpp.

bool freenect_camera::FreenectDevice::isDepthRegistered ( ) [inline]

Definition at line 250 of file freenect_device.hpp.

bool freenect_camera::FreenectDevice::isDepthRegistrationSupported ( ) const [inline]

Definition at line 113 of file freenect_device.hpp.

bool freenect_camera::FreenectDevice::isDepthStreamRunning ( ) [inline]

Definition at line 271 of file freenect_device.hpp.

bool freenect_camera::FreenectDevice::isImageStreamRunning ( ) [inline]

Definition at line 201 of file freenect_device.hpp.

bool freenect_camera::FreenectDevice::isIRStreamRunning ( ) [inline]

Definition at line 218 of file freenect_device.hpp.

bool freenect_camera::FreenectDevice::isSynchronizationSupported ( ) const [inline]

Definition at line 117 of file freenect_device.hpp.

bool freenect_camera::FreenectDevice::isSynchronized ( ) const [inline]

Definition at line 121 of file freenect_device.hpp.

void freenect_camera::FreenectDevice::openDevice	(	freenect_context *	driver,
		std::string	serial
	)		`[inline]`

Definition at line 64 of file freenect_device.hpp.

void freenect_camera::FreenectDevice::publishersAreReady ( ) [inline]

Definition at line 156 of file freenect_device.hpp.

template<typename T >

void freenect_camera::FreenectDevice::registerDepthCallback	(	void(T::)(const ImageBuffer &depth_image, void cookie)	callback,
		T &	instance,
		void *	cookie = `NULL`
	)		`[inline]`

Definition at line 144 of file freenect_device.hpp.

template<typename T >

void freenect_camera::FreenectDevice::registerImageCallback	(	void(T::)(const ImageBuffer &image, void cookie)	callback,
		T &	instance,
		void *	cookie = `NULL`
	)		`[inline]`

Definition at line 138 of file freenect_device.hpp.

template<typename T >

void freenect_camera::FreenectDevice::registerIRCallback	(	void(T::)(const ImageBuffer &ir_image, void cookie)	callback,
		T &	instance,
		void *	cookie = `NULL`
	)		`[inline]`