An agnostic C++ wrapper for the C Astra SDK. This object is wrapped by RosDevice. More...

#include <Device.hpp>

Classes
struct	Configuration

struct	Frame

struct	ImageStreamMode
	Represents a potential stream configuration. More...

Public Types
typedef std::shared_ptr< const Device >	ConstPtr

typedef std::shared_ptr< Device >	Ptr

Public Member Functions
orbbec_camera_params	getCameraParameters () const

boost::optional< std::uint32_t >	getChipId () const

boost::optional< std::vector< ImageStreamMode > >	getColorImageStreamModes () const

boost::optional< astra_usb_info_t >	getColorUsbInfo () const

const Configuration &	getConfiguration () const noexcept

Configuration &	getConfiguration () noexcept

boost::optional< std::vector< ImageStreamMode > >	getDepthImageStreamModes () const

boost::optional< astra_usb_info_t >	getDepthUsbInfo () const

boost::optional< std::vector< ImageStreamMode > >	getIrImageStreamModes () const

boost::optional< astra_usb_info_t >	getIrUsbInfo () const

boost::optional< std::string >	getSerialNumber () const

void	update ()

Static Public Member Functions
static Ptr	open (const Configuration &configuration)

Private Member Functions
	Device (const Configuration &configuration)

std::vector< ImageStreamMode >	getImageStreamModes (astra_streamconnection_t stream) const

bool	onBodyOrientationChange (astra_bodystream_t body_stream, const astra_body_orientation_t &orientation, const astra_skeleton_optimization_t &prev_orientation)

bool	onBodySkeletonOptimizationChange (astra_bodystream_t body_stream, const astra_skeleton_optimization_t &optimization, const astra_skeleton_optimization_t &prev_optimization)

bool	onBodySkeletonProfileChange (astra_bodystream_t body_stream, const astra_skeleton_profile_t &profile, const astra_skeleton_profile_t &prev_profile)

bool	onDepthD2CModeChange (astra_depthstream_t stream, const int &d2c_mode, const bool &prev_d2c_mode)

bool	onDepthRegistrationChange (astra_depthstream_t stream, const bool &registration, const bool &prev_registration)

bool	onMirroredChange (astra_streamconnection_t stream, const bool &mirrored, const bool &prev_mirrored)

bool	onModeChange (astra_streamconnection_t stream, const ImageStreamMode &mode, const ImageStreamMode &prev_mode)

bool	onStreamStartedChange (astra_streamconnection_t stream, const bool &started, const bool &started_prev)

Private Attributes
boost::optional< astra_bodystream_t >	body_stream_

boost::optional< astra_colorstream_t >	color_stream_

boost::optional< astra_colorizedbodystream_t >	colorized_body_stream_

Configuration	configuration_

boost::optional< astra_depthstream_t >	depth_stream_

boost::optional< astra_handstream_t >	hand_stream_

boost::optional< astra_infraredstream_t >	ir_stream_

boost::optional< astra_maskedcolorstream_t >	masked_color_stream_

boost::optional< astra_pointstream_t >	point_stream_

astra_reader_t	reader_

astra_streamsetconnection_t	stream_set_

Detailed Description

An agnostic C++ wrapper for the C Astra SDK. This object is wrapped by RosDevice.

Definition at line 21 of file Device.hpp.

Member Typedef Documentation

◆ ConstPtr

typedef std::shared_ptr<const Device> astra_ros::Device::ConstPtr

Definition at line 25 of file Device.hpp.

◆ Ptr

typedef std::shared_ptr<Device> astra_ros::Device::Ptr

Definition at line 24 of file Device.hpp.

Constructor & Destructor Documentation

◆ Device()

Device::Device ( const Configuration & configuration )

private

Definition at line 217 of file Device.cpp.

Member Function Documentation

◆ getCameraParameters()

orbbec_camera_params Device::getCameraParameters ( ) const

Returns: The color and depth camera intrinsics

Definition at line 612 of file Device.cpp.

◆ getChipId()

boost::optional< std::uint32_t > Device::getChipId ( ) const

Returns: The Orbbec device's Chip ID, or boost::none if the Device has no depth stream.

Definition at line 633 of file Device.cpp.

◆ getColorImageStreamModes()

boost::optional< std::vector< Device::ImageStreamMode > > Device::getColorImageStreamModes ( ) const

Definition at line 674 of file Device.cpp.

◆ getColorUsbInfo()

boost::optional< astra_usb_info_t > Device::getColorUsbInfo ( ) const

Returns: The USB information for the depth camera, or boost::none if the Device has no color stream.

Definition at line 644 of file Device.cpp.

◆ getConfiguration() [1/2]

astra_ros::Device::getConfiguration ( ) const

inlinenoexcept

Returns: A constant reference to the configuration.; A mutable reference to the configuration. Can be used to update parameters.

Definition at line 401 of file Device.hpp.

◆ getConfiguration() [2/2]

Configuration& astra_ros::Device::getConfiguration ( )

inlinenoexcept

Definition at line 410 of file Device.hpp.

◆ getDepthImageStreamModes()

boost::optional< std::vector< Device::ImageStreamMode > > Device::getDepthImageStreamModes ( ) const

Get the image modes supported by the depth stream.

Returns: boost::none if the device wasn't configured with a depth stream, a list of image modes otherwise.

Definition at line 680 of file Device.cpp.

◆ getDepthUsbInfo()

boost::optional< astra_usb_info_t > Device::getDepthUsbInfo ( ) const

Returns: The USB information for the depth camera, or boost::none if the Device has no depth stream.

Definition at line 654 of file Device.cpp.

◆ getImageStreamModes()

std::vector< Device::ImageStreamMode > Device::getImageStreamModes ( astra_streamconnection_t stream ) const

private

Definition at line 692 of file Device.cpp.

◆ getIrImageStreamModes()

boost::optional< std::vector< Device::ImageStreamMode > > Device::getIrImageStreamModes ( ) const

Get the image modes supported by the IR stream.

Returns: boost::none if the device isn't configured with a IR stream, a list of image modes otherwise.

Definition at line 686 of file Device.cpp.

◆ getIrUsbInfo()

boost::optional< astra_usb_info_t > Device::getIrUsbInfo ( ) const

Returns: The USB information for the IR camera, or boost::none if the Device has no IR stream.

Definition at line 664 of file Device.cpp.

◆ getSerialNumber()

boost::optional< std::string > Device::getSerialNumber ( ) const

Returns: The Orbbec device's serial number, or boost::none if the Device has no depth stream.

Definition at line 621 of file Device.cpp.

◆ onBodyOrientationChange()

bool Device::onBodyOrientationChange	(	astra_bodystream_t	body_stream,
		const astra_body_orientation_t &	orientation,
		const astra_skeleton_optimization_t &	prev_orientation
	)

private

Definition at line 529 of file Device.cpp.

◆ onBodySkeletonOptimizationChange()

bool Device::onBodySkeletonOptimizationChange	(	astra_bodystream_t	body_stream,
		const astra_skeleton_optimization_t &	optimization,
		const astra_skeleton_optimization_t &	prev_optimization
	)

private

Definition at line 518 of file Device.cpp.

◆ onBodySkeletonProfileChange()

bool Device::onBodySkeletonProfileChange	(	astra_bodystream_t	body_stream,
		const astra_skeleton_profile_t &	profile,
		const astra_skeleton_profile_t &	prev_profile
	)

private

Definition at line 540 of file Device.cpp.

◆ onDepthD2CModeChange()

bool Device::onDepthD2CModeChange	(	astra_depthstream_t	stream,
		const int &	d2c_mode,
		const bool &	prev_d2c_mode
	)

private

Definition at line 506 of file Device.cpp.

◆ onDepthRegistrationChange()

bool Device::onDepthRegistrationChange	(	astra_depthstream_t	stream,
		const bool &	registration,
		const bool &	prev_registration
	)

private

Definition at line 495 of file Device.cpp.

◆ onMirroredChange()

bool Device::onMirroredChange	(	astra_streamconnection_t	stream,
		const bool &	mirrored,
		const bool &	prev_mirrored
	)

private

Definition at line 551 of file Device.cpp.

◆ onModeChange()

bool Device::onModeChange	(	astra_streamconnection_t	stream,
		const ImageStreamMode &	mode,
		const ImageStreamMode &	prev_mode
	)

private

Definition at line 563 of file Device.cpp.

◆ onStreamStartedChange()

bool Device::onStreamStartedChange	(	astra_streamconnection_t	stream,
		const bool &	started,
		const bool &	started_prev
	)

private

Definition at line 465 of file Device.cpp.

◆ open()

Device::Ptr Device::open ( const Configuration & configuration )

static

Open an Orbbec device

Parameters

configuration The Configuration to use for this device.

Definition at line 35 of file Device.cpp.

◆ update()

void Device::update ( )

If a new frame is available, process it and call the OnFrame handler as specified in the Configuration.

Definition at line 40 of file Device.cpp.

Member Data Documentation

◆ body_stream_

boost::optional<astra_bodystream_t> astra_ros::Device::body_stream_

private

Definition at line 495 of file Device.hpp.

◆ color_stream_

boost::optional<astra_colorstream_t> astra_ros::Device::color_stream_

private

Definition at line 492 of file Device.hpp.

◆ colorized_body_stream_

boost::optional<astra_colorizedbodystream_t> astra_ros::Device::colorized_body_stream_

private

Definition at line 496 of file Device.hpp.

◆ configuration_

Configuration astra_ros::Device::configuration_

private

Definition at line 487 of file Device.hpp.

◆ depth_stream_

boost::optional<astra_depthstream_t> astra_ros::Device::depth_stream_

private

Definition at line 494 of file Device.hpp.

◆ hand_stream_

boost::optional<astra_handstream_t> astra_ros::Device::hand_stream_

private

Definition at line 497 of file Device.hpp.

◆ ir_stream_

boost::optional<astra_infraredstream_t> astra_ros::Device::ir_stream_

private

Definition at line 493 of file Device.hpp.

◆ masked_color_stream_

boost::optional<astra_maskedcolorstream_t> astra_ros::Device::masked_color_stream_

private

Definition at line 498 of file Device.hpp.

◆ point_stream_

boost::optional<astra_pointstream_t> astra_ros::Device::point_stream_

private

Definition at line 499 of file Device.hpp.

◆ reader_

astra_reader_t astra_ros::Device::reader_

private

Definition at line 490 of file Device.hpp.

◆ stream_set_

astra_streamsetconnection_t astra_ros::Device::stream_set_

private

Definition at line 489 of file Device.hpp.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ Device()

Member Function Documentation

◆ getCameraParameters()

◆ getChipId()

◆ getColorImageStreamModes()

◆ getColorUsbInfo()

◆ getConfiguration() [1/2]

◆ getConfiguration() [2/2]

◆ getDepthImageStreamModes()

◆ getDepthUsbInfo()

◆ getImageStreamModes()

◆ getIrImageStreamModes()

◆ getIrUsbInfo()

◆ getSerialNumber()

◆ onBodyOrientationChange()

◆ onBodySkeletonOptimizationChange()

◆ onBodySkeletonProfileChange()

◆ onDepthD2CModeChange()

◆ onDepthRegistrationChange()

◆ onMirroredChange()

◆ onModeChange()

◆ onStreamStartedChange()

◆ open()

◆ update()

Member Data Documentation

◆ body_stream_

◆ color_stream_

◆ colorized_body_stream_

◆ configuration_

◆ depth_stream_

◆ hand_stream_

◆ ir_stream_

◆ masked_color_stream_

◆ point_stream_

◆ reader_

◆ stream_set_