Concrete implementation of the interface OpenNIDevice for a MS Kinect device. More...

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

Inheritance diagram for openni_wrapper::DeviceKinect:

Collaboration diagram for openni_wrapper::DeviceKinect:

Public Member Functions
	DeviceKinect (xn::Context &context, const xn::NodeInfo &device_node, const xn::NodeInfo &image_node, const xn::NodeInfo &depth_node, const xn::NodeInfo &ir_node)
	~DeviceKinect () noexcept override
void	setDebayeringMethod (const ImageBayerGRBG::DebayeringMethod &debayering_method) noexcept
const ImageBayerGRBG::DebayeringMethod &	getDebayeringMethod () const noexcept
bool	isSynchronizationSupported () const noexcept override
Public Member Functions inherited from openni_wrapper::OpenNIDevice
virtual	~OpenNIDevice () noexcept
	virtual destructor.
bool	findCompatibleImageMode (const XnMapOutputMode &output_mode, XnMapOutputMode &mode) const noexcept
	finds an image output mode that can be used to retrieve images in desired output mode.
bool	findCompatibleDepthMode (const XnMapOutputMode &output_mode, XnMapOutputMode &mode) const noexcept
	finds a depth output mode that can be used to retrieve depth images in desired output mode.
bool	isImageModeSupported (const XnMapOutputMode &output_mode) const noexcept
	returns whether a given mode is natively supported by the device or not
bool	isDepthModeSupported (const XnMapOutputMode &output_mode) const noexcept
	returns whether a given mode is natively supported by the device or not
const XnMapOutputMode &	getDefaultImageMode () const noexcept
	returns the default image mode, which is simply the first entry in the list of modes
const XnMapOutputMode &	getDefaultDepthMode () const noexcept
	returns the default depth mode, which is simply the first entry in the list of modes
const XnMapOutputMode &	getDefaultIRMode () const noexcept
	returns the default IR mode, which is simply the first entry in the list of modes
void	setImageOutputMode (const XnMapOutputMode &output_mode)
	sets the output mode of the image stream
void	setDepthOutputMode (const XnMapOutputMode &output_mode)
	sets the output mode of the depth stream
void	setIROutputMode (const XnMapOutputMode &output_mode)
	sets the output mode of the IR stream
XnMapOutputMode	getImageOutputMode () const
XnMapOutputMode	getDepthOutputMode () const
XnMapOutputMode	getIROutputMode () const
void	setDepthRegistration (bool on_off)
	set the depth stream registration on or off
bool	isDepthRegistered () const noexcept
bool	isDepthRegistrationSupported () const noexcept
void	setSynchronization (bool on_off)
	set the hardware synchronization between Depth and RGB stream on or off.
bool	isSynchronized () const noexcept
bool	isDepthCropped () const
void	setDepthCropping (unsigned x, unsigned y, unsigned width, unsigned height)
	turn on cropping for the depth stream.
bool	isDepthCroppingSupported () const noexcept
float	getImageFocalLength (int output_x_resolution=0) const noexcept
	returns the focal length for the color camera in pixels.
float	getDepthFocalLength (int output_x_resolution=0) const noexcept
	returns the focal length for the IR camera in pixels.
float	getBaseline () const noexcept
virtual void	startImageStream ()
	starts the image stream.
virtual void	stopImageStream ()
	stops the image stream.
virtual void	startDepthStream ()
	starts the depth stream.
virtual void	stopDepthStream ()
	stops the depth stream.
virtual void	startIRStream ()
	starts the IR stream.
virtual void	stopIRStream ()
	stops the IR stream.
bool	hasImageStream () const noexcept
bool	hasDepthStream () const noexcept
bool	hasIRStream () const noexcept
virtual bool	isImageStreamRunning () const noexcept
virtual bool	isDepthStreamRunning () const noexcept
virtual bool	isIRStreamRunning () const noexcept
CallbackHandle	registerImageCallback (const ImageCallbackFunction &callback, void *cookie=nullptr) noexcept
	registers a callback function of std::function type for the image stream with an optional user defined parameter.
template<typename T>
CallbackHandle	registerImageCallback (void(T::callback)(Image::Ptr, void cookie), T &instance, void *cookie=nullptr) noexcept
	registers a callback function for the image stream with an optional user defined parameter.
bool	unregisterImageCallback (const CallbackHandle &callbackHandle) noexcept
	unregisters a callback function.
CallbackHandle	registerDepthCallback (const DepthImageCallbackFunction &callback, void *cookie=nullptr) noexcept
	registers a callback function of std::function type for the depth stream with an optional user defined parameter.
template<typename T>
CallbackHandle	registerDepthCallback (void(T::callback)(DepthImage::Ptr, void cookie), T &instance, void *cookie=nullptr) noexcept
	registers a callback function for the depth stream with an optional user defined parameter.
bool	unregisterDepthCallback (const CallbackHandle &callbackHandle) noexcept
	unregisters a callback function.
CallbackHandle	registerIRCallback (const IRImageCallbackFunction &callback, void *cookie=nullptr) noexcept
	registers a callback function of std::function type for the IR stream with an optional user defined parameter.
template<typename T>
CallbackHandle	registerIRCallback (void(T::callback)(IRImage::Ptr, void cookie), T &instance, void *cookie=nullptr) noexcept
	registers a callback function for the IR stream with an optional user defined parameter.
bool	unregisterIRCallback (const CallbackHandle &callbackHandle) noexcept
	unregisters a callback function.
const char *	getSerialNumber () const noexcept
	returns the serial number for device.
const char *	getConnectionString () const noexcept
	returns the connection string for current device, which has following format vendorID/productID@BusID/DeviceID.
const char *	getVendorName () const noexcept
const char *	getProductName () const noexcept
unsigned short	getVendorID () const noexcept
unsigned short	getProductID () const noexcept
unsigned char	getBus () const noexcept
unsigned char	getAddress () const noexcept
void	setRGBFocalLength (float focal_length)
	Set the RGB image focal length.
void	setDepthFocalLength (float focal_length)
	Set the depth image focal length.
void	setDepthOutputFormat (const DepthMode &depth_mode=OpenNI_12_bit_depth)
	Set the depth output format.
XnUInt64	getDepthOutputFormat () const
	Get the depth output format as set by the user.
std::uint16_t	shiftToDepth (std::uint16_t shift_value) const
	Convert shift to depth value.

Protected Member Functions
Image::Ptr	getCurrentImage (pcl::shared_ptr< xn::ImageMetaData > image_meta_data) const noexcept override
void	enumAvailableModes () noexcept
bool	isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const noexcept override
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 ()

Protected Attributes
ImageBayerGRBG::DebayeringMethod	debayering_method_ {ImageBayerGRBG::EdgeAwareWeighted}
Protected Attributes inherited from openni_wrapper::OpenNIDevice
struct openni_wrapper::OpenNIDevice::ShiftConversion	shift_conversion_parameters_
std::vector< std::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
xn::NodeInfo	device_node_info_
	node object for current device
xn::DepthGenerator	depth_generator_
	Depth generator object.
xn::ImageGenerator	image_generator_
	Image generator object.
xn::IRGenerator	ir_generator_
	IR generator object.
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
float	baseline_
	distance between the projector and the IR camera
float	rgb_focal_length_SXGA_
	focal length for regular camera producing color images in native SXGA mode
XnUInt64	shadow_value_
	the value for shadow (occluded pixels)
XnUInt64	no_sample_value_
	the value for pixels without a valid disparity measurement
OpenNIDevice::CallbackHandle	image_callback_handle_counter_
OpenNIDevice::CallbackHandle	depth_callback_handle_counter_
OpenNIDevice::CallbackHandle	ir_callback_handle_counter_
bool	quit_
std::mutex	image_mutex_
std::mutex	depth_mutex_
std::mutex	ir_mutex_
std::condition_variable	image_condition_
std::condition_variable	depth_condition_
std::condition_variable	ir_condition_
std::thread	image_thread_
std::thread	depth_thread_
std::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 }
using	Ptr = pcl::shared_ptr<OpenNIDevice>
using	ConstPtr = pcl::shared_ptr<const OpenNIDevice>
using	ImageCallbackFunction = std::function<void(Image::Ptr, void* cookie) >
using	DepthImageCallbackFunction = std::function<void(DepthImage::Ptr, void* cookie) >
using	IRImageCallbackFunction = std::function<void(IRImage::Ptr, void* cookie) >
using	CallbackHandle = unsigned
Protected Types inherited from openni_wrapper::OpenNIDevice
using	ActualImageCallbackFunction = std::function<void(Image::Ptr) >
using	ActualDepthImageCallbackFunction = std::function<void(DepthImage::Ptr) >
using	ActualIRImageCallbackFunction = std::function<void(IRImage::Ptr) >
Static Protected Member Functions inherited from openni_wrapper::OpenNIDevice
static void __stdcall	NewDepthDataAvailable (xn::ProductionNode &node, void *cookie) noexcept
static void __stdcall	NewImageDataAvailable (xn::ProductionNode &node, void *cookie) noexcept
static void __stdcall	NewIRDataAvailable (xn::ProductionNode &node, void *cookie) noexcept

Detailed Description

Concrete implementation of the interface OpenNIDevice for a MS Kinect device.

Author: Suat Gedikli

Date: 02.january 2011

Definition at line 56 of file openni_device_kinect.h.

Constructor & Destructor Documentation

◆ DeviceKinect()

openni_wrapper::DeviceKinect::DeviceKinect	(	xn::Context &	context,
		const xn::NodeInfo &	device_node,
		const xn::NodeInfo &	image_node,
		const xn::NodeInfo &	depth_node,
		const xn::NodeInfo &	ir_node )

◆ ~DeviceKinect()

openni_wrapper::DeviceKinect::~DeviceKinect ( )

overridenoexcept

References getDebayeringMethod(), and setDebayeringMethod().

Member Function Documentation

◆ enumAvailableModes()

void openni_wrapper::DeviceKinect::enumAvailableModes ( )

protectednoexcept

References enumAvailableModes().

Referenced by enumAvailableModes().

◆ getCurrentImage()

Image::Ptr openni_wrapper::DeviceKinect::getCurrentImage ( pcl::shared_ptr< xn::ImageMetaData > image_meta_data ) const

overrideprotectedvirtualnoexcept

Implements openni_wrapper::OpenNIDevice.

References getCurrentImage().

Referenced by getCurrentImage().

◆ getDebayeringMethod()

const ImageBayerGRBG::DebayeringMethod & openni_wrapper::DeviceKinect::getDebayeringMethod ( ) const

inlinenoexcept

Definition at line 82 of file openni_device_kinect.h.

References debayering_method_.

Referenced by ~DeviceKinect().

◆ isImageResizeSupported()

bool openni_wrapper::DeviceKinect::isImageResizeSupported	(	unsigned	input_width,
		unsigned	input_height,
		unsigned	output_width,
		unsigned	output_height ) const