.. _program_listing_file__tmp_ws_src_openni2_camera_openni2_camera_include_openni2_camera_openni2_device.h:

Program Listing for File openni2_device.h
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_openni2_camera_openni2_camera_include_openni2_camera_openni2_device.h>` (``/tmp/ws/src/openni2_camera/openni2_camera/include/openni2_camera/openni2_device.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2013, Willow Garage, Inc.
    * All rights reserved.
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions are met:
    *
    *     * Redistributions of source code must retain the above copyright
    *       notice, this list of conditions and the following disclaimer.
    *     * Redistributions in binary form must reproduce the above copyright
    *       notice, this list of conditions and the following disclaimer in the
    *       documentation and/or other materials provided with the distribution.
    *     * Neither the name of the Willow Garage, Inc. nor the names of its
    *       contributors may be used to endorse or promote products derived from
    *       this software without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    *
    *      Author: Julius Kammerl (jkammerl@willowgarage.com)
    */
   
   #ifndef OPENNI2_DEVICE_H
   #define OPENNI2_DEVICE_H
   
   #include "openni2_camera/openni2_video_mode.h"
   
   #include "openni2_camera/openni2_exception.h"
   
   #include <functional>
   
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/image.hpp>
   
   #include <string>
   #include <vector>
   
   namespace openni
   {
   class Device;
   class DeviceInfo;
   class VideoStream;
   class SensorInfo;
   }
   
   namespace openni2_wrapper
   {
   
   typedef std::function<void(sensor_msgs::msg::Image::SharedPtr image)> FrameCallbackFunction;
   
   class OpenNI2FrameListener;
   
   class OpenNI2Device
   {
   public:
     OpenNI2Device(const std::string& device_URI,
                   rclcpp::Node* node);
     virtual ~OpenNI2Device();
   
     const std::string getUri() const;
     const std::string getVendor() const;
     const std::string getName() const;
     uint16_t getUsbVendorId() const;
     uint16_t getUsbProductId() const;
   
     const std::string getStringID() const;
   
     bool isValid() const;
   
     bool hasIRSensor() const;
     bool hasColorSensor() const;
     bool hasDepthSensor() const;
   
     void startIRStream();
     void startColorStream();
     void startDepthStream();
   
     void stopAllStreams();
   
     void stopIRStream();
     void stopColorStream();
     void stopDepthStream();
   
     bool isIRStreamStarted();
     bool isColorStreamStarted();
     bool isDepthStreamStarted();
   
     bool isImageRegistrationModeSupported() const;
     void setImageRegistrationMode(bool enabled);
     void setDepthColorSync(bool enabled);
   
     const OpenNI2VideoMode getIRVideoMode();
     const OpenNI2VideoMode getColorVideoMode();
     const OpenNI2VideoMode getDepthVideoMode();
   
     const std::vector<OpenNI2VideoMode>& getSupportedIRVideoModes() const;
     const std::vector<OpenNI2VideoMode>& getSupportedColorVideoModes() const;
     const std::vector<OpenNI2VideoMode>& getSupportedDepthVideoModes() const;
   
     bool isIRVideoModeSupported(const OpenNI2VideoMode& video_mode) const;
     bool isColorVideoModeSupported(const OpenNI2VideoMode& video_mode) const;
     bool isDepthVideoModeSupported(const OpenNI2VideoMode& video_mode) const;
   
     void setIRVideoMode(const OpenNI2VideoMode& video_mode);
     void setColorVideoMode(const OpenNI2VideoMode& video_mode);
     void setDepthVideoMode(const OpenNI2VideoMode& video_mode);
   
     void setIRFrameCallback(FrameCallbackFunction callback);
     void setColorFrameCallback(FrameCallbackFunction callback);
     void setDepthFrameCallback(FrameCallbackFunction callback);
   
     float getIRFocalLength (int output_y_resolution) const;
     float getColorFocalLength (int output_y_resolution) const;
     float getDepthFocalLength (int output_y_resolution) const;
     float getBaseline () const;
   
     void setAutoExposure(bool enable);
     void setAutoWhiteBalance(bool enable);
     void setExposure(int exposure);
   
     bool getAutoExposure() const;
     bool getAutoWhiteBalance() const;
     int getExposure() const;
   
     void setUseDeviceTimer(bool enable);
   
   protected:
     void shutdown();
   
     std::shared_ptr<openni::VideoStream> getIRVideoStream() const;
     std::shared_ptr<openni::VideoStream> getColorVideoStream() const;
     std::shared_ptr<openni::VideoStream> getDepthVideoStream() const;
   
     std::shared_ptr<openni::Device> openni_device_;
     std::shared_ptr<openni::DeviceInfo> device_info_;
   
     std::shared_ptr<OpenNI2FrameListener> ir_frame_listener;
     std::shared_ptr<OpenNI2FrameListener> color_frame_listener;
     std::shared_ptr<OpenNI2FrameListener> depth_frame_listener;
   
     mutable std::shared_ptr<openni::VideoStream> ir_video_stream_;
     mutable std::shared_ptr<openni::VideoStream> color_video_stream_;
     mutable std::shared_ptr<openni::VideoStream> depth_video_stream_;
   
     mutable std::vector<OpenNI2VideoMode> ir_video_modes_;
     mutable std::vector<OpenNI2VideoMode> color_video_modes_;
     mutable std::vector<OpenNI2VideoMode> depth_video_modes_;
   
     bool ir_video_started_;
     bool color_video_started_;
     bool depth_video_started_;
   
     bool image_registration_activated_;
   };
   
   std::ostream& operator << (std::ostream& stream, const OpenNI2Device& device);
   
   }
   
   #endif /* OPENNI_DEVICE_H */