openni2_device.h
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00001 /*
00002  * Copyright (c) 2013, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  *      Author: Julius Kammerl (jkammerl@willowgarage.com)
00030  */
00031 
00032 #ifndef OPENNI2_DEVICE_H
00033 #define OPENNI2_DEVICE_H
00034 
00035 #include "openni2_camera/openni2_video_mode.h"
00036 
00037 #include "openni2_camera/openni2_exception.h"
00038 
00039 #include <boost/shared_ptr.hpp>
00040 #include <boost/cstdint.hpp>
00041 #include <boost/bind.hpp>
00042 #include <boost/function.hpp>
00043 
00044 #include <sensor_msgs/Image.h>
00045 
00046 #include <string>
00047 #include <vector>
00048 
00049 namespace openni
00050 {
00051 class Device;
00052 class DeviceInfo;
00053 class VideoStream;
00054 class SensorInfo;
00055 }
00056 
00057 namespace openni2_wrapper
00058 {
00059 
00060 typedef boost::function<void(sensor_msgs::ImagePtr image)> FrameCallbackFunction;
00061 
00062 class OpenNI2FrameListener;
00063 
00064 class OpenNI2Device
00065 {
00066 public:
00067   OpenNI2Device(const std::string& device_URI) throw (OpenNI2Exception);
00068   virtual ~OpenNI2Device();
00069 
00070   const std::string getUri() const;
00071   const std::string getVendor() const;
00072   const std::string getName() const;
00073   uint16_t getUsbVendorId() const;
00074   uint16_t getUsbProductId() const;
00075 
00076   const std::string getStringID() const;
00077 
00078   bool isValid() const;
00079 
00080   bool hasIRSensor() const;
00081   bool hasColorSensor() const;
00082   bool hasDepthSensor() const;
00083 
00084   void startIRStream();
00085   void startColorStream();
00086   void startDepthStream();
00087 
00088   void stopAllStreams();
00089 
00090   void stopIRStream();
00091   void stopColorStream();
00092   void stopDepthStream();
00093 
00094   bool isIRStreamStarted();
00095   bool isColorStreamStarted();
00096   bool isDepthStreamStarted();
00097 
00098   bool isImageRegistrationModeSupported() const;
00099   void setImageRegistrationMode(bool enabled) throw (OpenNI2Exception);
00100   void setDepthColorSync(bool enabled) throw (OpenNI2Exception);
00101 
00102   const OpenNI2VideoMode getIRVideoMode() throw (OpenNI2Exception);
00103   const OpenNI2VideoMode getColorVideoMode() throw (OpenNI2Exception);
00104   const OpenNI2VideoMode getDepthVideoMode() throw (OpenNI2Exception);
00105 
00106   const std::vector<OpenNI2VideoMode>& getSupportedIRVideoModes() const;
00107   const std::vector<OpenNI2VideoMode>& getSupportedColorVideoModes() const;
00108   const std::vector<OpenNI2VideoMode>& getSupportedDepthVideoModes() const;
00109 
00110   bool isIRVideoModeSupported(const OpenNI2VideoMode& video_mode) const;
00111   bool isColorVideoModeSupported(const OpenNI2VideoMode& video_mode) const;
00112   bool isDepthVideoModeSupported(const OpenNI2VideoMode& video_mode) const;
00113 
00114   void setIRVideoMode(const OpenNI2VideoMode& video_mode) throw (OpenNI2Exception);
00115   void setColorVideoMode(const OpenNI2VideoMode& video_mode) throw (OpenNI2Exception);
00116   void setDepthVideoMode(const OpenNI2VideoMode& video_mode) throw (OpenNI2Exception);
00117 
00118   void setIRFrameCallback(FrameCallbackFunction callback);
00119   void setColorFrameCallback(FrameCallbackFunction callback);
00120   void setDepthFrameCallback(FrameCallbackFunction callback);
00121 
00122   float getIRFocalLength (int output_y_resolution) const;
00123   float getColorFocalLength (int output_y_resolution) const;
00124   float getDepthFocalLength (int output_y_resolution) const;
00125   float getBaseline () const;
00126 
00127   void setAutoExposure(bool enable) throw (OpenNI2Exception);
00128   void setAutoWhiteBalance(bool enable) throw (OpenNI2Exception);
00129   void setExposure(int exposure) throw (OpenNI2Exception);
00130 
00131   bool getAutoExposure() const;
00132   bool getAutoWhiteBalance() const;
00133   int getExposure() const;
00134 
00135   void setUseDeviceTimer(bool enable);
00136 
00137 protected:
00138   void shutdown();
00139 
00140   boost::shared_ptr<openni::VideoStream> getIRVideoStream() const throw (OpenNI2Exception);
00141   boost::shared_ptr<openni::VideoStream> getColorVideoStream() const throw (OpenNI2Exception);
00142   boost::shared_ptr<openni::VideoStream> getDepthVideoStream() const throw (OpenNI2Exception);
00143 
00144   boost::shared_ptr<openni::Device> openni_device_;
00145   boost::shared_ptr<openni::DeviceInfo> device_info_;
00146 
00147   boost::shared_ptr<OpenNI2FrameListener> ir_frame_listener;
00148   boost::shared_ptr<OpenNI2FrameListener> color_frame_listener;
00149   boost::shared_ptr<OpenNI2FrameListener> depth_frame_listener;
00150 
00151   mutable boost::shared_ptr<openni::VideoStream> ir_video_stream_;
00152   mutable boost::shared_ptr<openni::VideoStream> color_video_stream_;
00153   mutable boost::shared_ptr<openni::VideoStream> depth_video_stream_;
00154 
00155   mutable std::vector<OpenNI2VideoMode> ir_video_modes_;
00156   mutable std::vector<OpenNI2VideoMode> color_video_modes_;
00157   mutable std::vector<OpenNI2VideoMode> depth_video_modes_;
00158 
00159   bool ir_video_started_;
00160   bool color_video_started_;
00161   bool depth_video_started_;
00162 
00163   bool image_registration_activated_;
00164 
00165   bool use_device_time_;
00166 
00167 };
00168 
00169 std::ostream& operator << (std::ostream& stream, const OpenNI2Device& device);
00170 
00171 }
00172 
00173 #endif /* OPENNI_DEVICE_H */


openni2_camera
Author(s): Julius Kammerl
autogenerated on Tue Oct 3 2017 03:16:54