Concrete implementation of the interface OpenNIDevice for a virtual device playing back an ONI file. More...

#include <pcl/io/openni_camera/openni_device_oni.h>

Inheritance diagram for openni_wrapper::DeviceONI:

Collaboration diagram for openni_wrapper::DeviceONI:

Public Member Functions
	DeviceONI (xn::Context &context, const std::string &file_name, bool repeat=false, bool streaming=true)

virtual	~DeviceONI () throw ()

virtual void	startImageStream ()
	starts the image stream. More...

virtual void	stopImageStream ()
	stops the image stream. More...

virtual void	startDepthStream ()
	starts the depth stream. More...

virtual void	stopDepthStream ()
	stops the depth stream. More...

virtual void	startIRStream ()
	starts the IR stream. More...

virtual void	stopIRStream ()
	stops the IR stream. More...

virtual bool	isImageStreamRunning () const throw ()

virtual bool	isDepthStreamRunning () const throw ()

virtual bool	isIRStreamRunning () const throw ()

virtual bool	isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ()

bool	trigger (int relative_offset=0)
	Trigger a new frame in the ONI stream. More...

bool	isStreaming () const throw ()

bool	hasDataLeft ()
	Check if there is any data left in the ONI file to process. More...

Public Member Functions inherited from openni_wrapper::OpenNIDevice
virtual	~OpenNIDevice () throw ()
	virtual destructor. More...

bool	findCompatibleImageMode (const XnMapOutputMode &output_mode, XnMapOutputMode &mode) const throw ()
	finds an image output mode that can be used to retrieve images in desired output mode. More...

bool	findCompatibleDepthMode (const XnMapOutputMode &output_mode, XnMapOutputMode &mode) const throw ()
	finds a depth output mode that can be used to retrieve depth images in desired output mode. More...

bool	isImageModeSupported (const XnMapOutputMode &output_mode) const throw ()
	returns whether a given mode is natively supported by the device or not More...

bool	isDepthModeSupported (const XnMapOutputMode &output_mode) const throw ()
	returns whether a given mode is natively supported by the device or not More...

const XnMapOutputMode &	getDefaultImageMode () const throw ()
	returns the default image mode, which is simply the first entry in the list of modes More...

const XnMapOutputMode &	getDefaultDepthMode () const throw ()
	returns the default depth mode, which is simply the first entry in the list of modes More...

const XnMapOutputMode &	getDefaultIRMode () const throw ()
	returns the default IR mode, which is simply the first entry in the list of modes More...

void	setImageOutputMode (const XnMapOutputMode &output_mode)
	sets the output mode of the image stream More...

void	setDepthOutputMode (const XnMapOutputMode &output_mode)
	sets the output mode of the depth stream More...

void	setIROutputMode (const XnMapOutputMode &output_mode)
	sets the output mode of the IR stream More...

XnMapOutputMode	getImageOutputMode () const

XnMapOutputMode	getDepthOutputMode () const

XnMapOutputMode	getIROutputMode () const

void	setDepthRegistration (bool on_off)
	set the depth stream registration on or off More...

bool	isDepthRegistered () const throw ()

bool	isDepthRegistrationSupported () const throw ()

void	setSynchronization (bool on_off)
	set the hardware synchronization between Depth and RGB stream on or off. More...

bool	isSynchronized () const throw ()

virtual bool	isSynchronizationSupported () const throw ()

bool	isDepthCropped () const

void	setDepthCropping (unsigned x, unsigned y, unsigned width, unsigned height)
	turn on cropping for the depth stream. More...

bool	isDepthCroppingSupported () const throw ()

float	getImageFocalLength (int output_x_resolution=0) const throw ()
	returns the focal length for the color camera in pixels. More...

float	getDepthFocalLength (int output_x_resolution=0) const throw ()
	returns the focal length for the IR camera in pixels. More...

float	getBaseline () const throw ()

bool	hasImageStream () const throw ()

bool	hasDepthStream () const throw ()

bool	hasIRStream () const throw ()

CallbackHandle	registerImageCallback (const ImageCallbackFunction &callback, void *cookie=NULL) throw ()
	registers a callback function of boost::function type for the image stream with an optional user defined parameter. More...

template<typename T >
CallbackHandle	registerImageCallback (void(T::callback)(boost::shared_ptr< Image >, void cookie), T &instance, void *cookie=NULL) throw ()
	registers a callback function for the image stream with an optional user defined parameter. More...

bool	unregisterImageCallback (const CallbackHandle &callbackHandle) throw ()
	unregisters a callback function. More...

CallbackHandle	registerDepthCallback (const DepthImageCallbackFunction &callback, void *cookie=NULL) throw ()
	registers a callback function of boost::function type for the depth stream with an optional user defined parameter. More...

template<typename T >
CallbackHandle	registerDepthCallback (void(T::callback)(boost::shared_ptr< DepthImage >, void cookie), T &instance, void *cookie=NULL) throw ()
	registers a callback function for the depth stream with an optional user defined parameter. More...

bool	unregisterDepthCallback (const CallbackHandle &callbackHandle) throw ()
	unregisters a callback function. More...

CallbackHandle	registerIRCallback (const IRImageCallbackFunction &callback, void *cookie=NULL) throw ()
	registers a callback function of boost::function type for the IR stream with an optional user defined parameter. More...

template<typename T >
CallbackHandle	registerIRCallback (void(T::callback)(boost::shared_ptr< IRImage >, void cookie), T &instance, void *cookie=NULL) throw ()
	registers a callback function for the IR stream with an optional user defined parameter. More...

bool	unregisterIRCallback (const CallbackHandle &callbackHandle) throw ()
	unregisters a callback function. More...

const char *	getSerialNumber () const throw ()
	returns the serial number for device. More...

const char *	getConnectionString () const throw ()
	returns the connection string for current device, which has following format vendorID/productID@BusID/DeviceID. More...

const char *	getVendorName () const throw ()

const char *	getProductName () const throw ()

unsigned short	getVendorID () const throw ()

unsigned short	getProductID () const throw ()

unsigned char	getBus () const throw ()

unsigned char	getAddress () const throw ()

void	setRGBFocalLength (float focal_length)
	Set the RGB image focal length. More...

void	setDepthFocalLength (float focal_length)
	Set the depth image focal length. More...

void	setDepthOutputFormat (const DepthMode &depth_mode=OpenNI_12_bit_depth)
	Set the depth output format. More...

XnUInt64	getDepthOutputFormat () const
	Get the depth output format as set by the user. More...

pcl::uint16_t	shiftToDepth (pcl::uint16_t shift_value) const
	Convert shift to depth value. More...

Protected Member Functions
virtual boost::shared_ptr< Image >	getCurrentImage (boost::shared_ptr< xn::ImageMetaData > image_meta_data) const throw ()

void	PlayerThreadFunction ()

Protected Member Functions inherited from openni_wrapper::OpenNIDevice
	OpenNIDevice (xn::Context &context, const xn::NodeInfo &device_node, const xn::NodeInfo &image_node, const xn::NodeInfo &depth_node, const xn::NodeInfo &ir_node)

	OpenNIDevice (xn::Context &context, const xn::NodeInfo &device_node, const xn::NodeInfo &depth_node, const xn::NodeInfo &ir_node)

	OpenNIDevice (xn::Context &context)

void	ImageDataThreadFunction ()

void	DepthDataThreadFunction ()

void	IRDataThreadFunction ()

void	setRegistration (bool on_off)

void	Init ()

void	InitShiftToDepthConversion ()

void	ReadDeviceParametersFromSensorNode ()

Static Protected Member Functions
static void __stdcall	NewONIDepthDataAvailable (xn::ProductionNode &node, void *cookie) throw ()

static void __stdcall	NewONIImageDataAvailable (xn::ProductionNode &node, void *cookie) throw ()

static void __stdcall	NewONIIRDataAvailable (xn::ProductionNode &node, void *cookie) throw ()

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 ()

Protected Attributes
xn::Player	player_

boost::thread	player_thread_

boost::mutex	player_mutex_

boost::condition_variable	player_condition_

bool	streaming_

bool	depth_stream_running_

bool	image_stream_running_

bool	ir_stream_running_

Protected Attributes inherited from openni_wrapper::OpenNIDevice
struct openni_wrapper::OpenNIDevice::ShiftConversion	shift_conversion_parameters_

std::vector< pcl::uint16_t >	shift_to_depth_table_

std::map< CallbackHandle, ActualImageCallbackFunction >	image_callback_

std::map< CallbackHandle, ActualDepthImageCallbackFunction >	depth_callback_

std::map< CallbackHandle, ActualIRImageCallbackFunction >	ir_callback_

std::vector< XnMapOutputMode >	available_image_modes_

std::vector< XnMapOutputMode >	available_depth_modes_

xn::Context &	context_
	context to OpenNI driver More...

xn::NodeInfo	device_node_info_
	node object for current device More...

xn::DepthGenerator	depth_generator_
	Depth generator object. More...

xn::ImageGenerator	image_generator_
	Image generator object. More...

xn::IRGenerator	ir_generator_
	IR generator object. More...

XnCallbackHandle	depth_callback_handle_

XnCallbackHandle	image_callback_handle_

XnCallbackHandle	ir_callback_handle_

float	depth_focal_length_SXGA_
	focal length for IR camera producing depth information in native SXGA mode More...

float	baseline_
	distance between the projector and the IR camera More...

float	rgb_focal_length_SXGA_
	focal length for regular camera producing color images in native SXGA mode More...

XnUInt64	shadow_value_
	the value for shadow (occluded pixels) More...

XnUInt64	no_sample_value_
	the value for pixels without a valid disparity measurement More...

OpenNIDevice::CallbackHandle	image_callback_handle_counter_

OpenNIDevice::CallbackHandle	depth_callback_handle_counter_

OpenNIDevice::CallbackHandle	ir_callback_handle_counter_

bool	quit_

boost::mutex	image_mutex_

boost::mutex	depth_mutex_

boost::mutex	ir_mutex_

boost::condition_variable	image_condition_

boost::condition_variable	depth_condition_

boost::condition_variable	ir_condition_

boost::thread	image_thread_

boost::thread	depth_thread_

boost::thread	ir_thread_

Friends
class	OpenNIDriver

Additional Inherited Members
Public Types inherited from openni_wrapper::OpenNIDevice
enum	DepthMode { OpenNI_shift_values = 0, OpenNI_12_bit_depth = 1 }

typedef boost::function< void(boost::shared_ptr < Image >, void *cookie) >	ImageCallbackFunction

typedef boost::function< void(boost::shared_ptr < DepthImage >, void *cookie) >	DepthImageCallbackFunction

typedef boost::function< void(boost::shared_ptr < IRImage >, void *cookie) >	IRImageCallbackFunction

typedef unsigned	CallbackHandle

Protected Types inherited from openni_wrapper::OpenNIDevice
typedef boost::function< void(boost::shared_ptr < Image >) >	ActualImageCallbackFunction

typedef boost::function< void(boost::shared_ptr < DepthImage >) >	ActualDepthImageCallbackFunction

typedef boost::function< void(boost::shared_ptr < IRImage >) >	ActualIRImageCallbackFunction

Detailed Description

Concrete implementation of the interface OpenNIDevice for a virtual device playing back an ONI file.

Author: Suat Gedikli

Date: 19. june 2011

Definition at line 55 of file openni_device_oni.h.

Constructor & Destructor Documentation

openni_wrapper::DeviceONI::DeviceONI	(	xn::Context &	context,
		const std::string &	file_name,
		bool	repeat = `false`,
		bool	streaming = `true`
	)

virtual openni_wrapper::DeviceONI::~DeviceONI	(	)
throw	(
	)

virtual

Member Function Documentation

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

protectedvirtual

Implements openni_wrapper::OpenNIDevice.

bool openni_wrapper::DeviceONI::hasDataLeft ( )

inline

Check if there is any data left in the ONI file to process.

Definition at line 87 of file openni_device_oni.h.

References player_.

virtual bool openni_wrapper::DeviceONI::isDepthStreamRunning	(	)	const
throw	(
	)

virtual

Returns: true if the depth stream is running / started, false otherwise.

Reimplemented from openni_wrapper::OpenNIDevice.

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

virtual

Implements openni_wrapper::OpenNIDevice.

virtual bool openni_wrapper::DeviceONI::isImageStreamRunning	(	)	const
throw	(
	)

virtual

Returns: true if the image stream is running / started, false otherwise.

Reimplemented from openni_wrapper::OpenNIDevice.

virtual bool openni_wrapper::DeviceONI::isIRStreamRunning	(	)	const
throw	(
	)

virtual

Returns: true if the IR stream is running / started, false otherwise.

Reimplemented from openni_wrapper::OpenNIDevice.

bool openni_wrapper::DeviceONI::isStreaming	(	)	const
throw	(
	)

static void __stdcall openni_wrapper::DeviceONI::NewONIDepthDataAvailable	(	xn::ProductionNode &	node,
		void *	cookie
	)
throw	(
	)

staticprotected

static void __stdcall openni_wrapper::DeviceONI::NewONIImageDataAvailable	(	xn::ProductionNode &	node,
		void *	cookie
	)
throw	(
	)

staticprotected

static void __stdcall openni_wrapper::DeviceONI::NewONIIRDataAvailable	(	xn::ProductionNode &	node,
		void *	cookie
	)
throw	(
	)

staticprotected

void openni_wrapper::DeviceONI::PlayerThreadFunction ( )

protected

virtual void openni_wrapper::DeviceONI::startDepthStream ( )

virtual

starts the depth stream.

Reimplemented from openni_wrapper::OpenNIDevice.

virtual void openni_wrapper::DeviceONI::startImageStream ( )

virtual

starts the image stream.

Reimplemented from openni_wrapper::OpenNIDevice.

virtual void openni_wrapper::DeviceONI::startIRStream ( )

virtual

starts the IR stream.

Reimplemented from openni_wrapper::OpenNIDevice.

virtual void openni_wrapper::DeviceONI::stopDepthStream ( )

virtual

stops the depth stream.

Reimplemented from openni_wrapper::OpenNIDevice.

virtual void openni_wrapper::DeviceONI::stopImageStream ( )

virtual

stops the image stream.

Reimplemented from openni_wrapper::OpenNIDevice.

virtual void openni_wrapper::DeviceONI::stopIRStream ( )

virtual

stops the IR stream.

Reimplemented from openni_wrapper::OpenNIDevice.

bool openni_wrapper::DeviceONI::trigger ( int relative_offset = 0 )

Trigger a new frame in the ONI stream.

Parameters

[in] relative_offset the relative offset in case we want to seek in the file

Friends And Related Function Documentation

friend class OpenNIDriver

friend

Definition at line 57 of file openni_device_oni.h.

Member Data Documentation

bool openni_wrapper::DeviceONI::depth_stream_running_

protected

Definition at line 105 of file openni_device_oni.h.

bool openni_wrapper::DeviceONI::image_stream_running_

protected

Definition at line 106 of file openni_device_oni.h.

bool openni_wrapper::DeviceONI::ir_stream_running_

protected

Definition at line 107 of file openni_device_oni.h.

xn::Player openni_wrapper::DeviceONI::player_

protected

Definition at line 100 of file openni_device_oni.h.

Referenced by hasDataLeft().

boost::condition_variable openni_wrapper::DeviceONI::player_condition_

protected

Definition at line 103 of file openni_device_oni.h.

boost::mutex openni_wrapper::DeviceONI::player_mutex_

mutableprotected

Definition at line 102 of file openni_device_oni.h.

boost::thread openni_wrapper::DeviceONI::player_thread_

protected

Definition at line 101 of file openni_device_oni.h.

bool openni_wrapper::DeviceONI::streaming_

protected

Definition at line 104 of file openni_device_oni.h.

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

/builddir/build/BUILD/pcl-0ddf11a6ad1175b6f1c253da003de20c1295cde0/io/include/pcl/io/openni_camera/openni_device_oni.h

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation