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9 #ifndef mrpt_COpenNI2Generic_H
10 #define mrpt_COpenNI2Generic_H
56 bool &hardware_error ,
57 unsigned sensor_id = 0);
71 bool &hardware_error ,
72 unsigned sensor_id = 0);
85 bool &hardware_error ,
86 unsigned sensor_id = 0);
96 void open(
unsigned sensor_id = 0);
115 bool isOpen(
const unsigned sensor_id)
const;
132 static std::vector<stlplus::smart_ptr<CDevice> >
vDevices;
145 void showLog(
const std::string& message)
const;
bool isOpen(const unsigned sensor_id) const
Check if the given 'sensor_id' has been open.
static std::vector< stlplus::smart_ptr< CDevice > > vDevices
void getNextFrameRGBD(mrpt::obs::CObservation3DRangeScan &out_obs, bool &there_is_obs, bool &hardware_error, unsigned sensor_id=0)
The main data retrieving function, to be called after calling loadConfig() and initialize().
bool m_grab_image
The data that the RGBD sensors can return.
void setVerbose(bool verbose)
~COpenNI2Generic()
Default ctor.
bool getColorSensorParam(mrpt::utils::TCamera ¶m, unsigned sensor_id=0) const
bool getDepthSensorParam(mrpt::utils::TCamera ¶m, unsigned sensor_id=0) const
An abstract class for accessing OpenNI2 compatible sensors.
int m_width
The same options (width, height and fps) are set for all the sensors.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A class for storing images as grayscale or RGB bitmaps.
void kill()
Kill the OpenNI2 driver.
COpenNI2Generic()
Default ctor.
void getNextFrameD(mrpt::math::CMatrix &depth_img, uint64_t ×tamp, bool &there_is_obs, bool &hardware_error, unsigned sensor_id=0)
The main data retrieving function, to be called after calling loadConfig() and initialize().
std::vector< int > vSerialNums
A vector with the serial numbers of the available devices.
This class is a "CSerializable" wrapper for "CMatrixFloat".
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement,...
unsigned int openDeviceBySerial(const unsigned int SerialRequired)
Open a RGBD device specified by its serial number.
bool getDeviceIDFromSerialNum(const unsigned int SerialRequired, int &sensor_id) const
Get the ID of the device corresponding to 'SerialRequired'.
void showLog(const std::string &message) const
void close(unsigned sensor_id=0)
Close the conection to the sensor (not need to call it manually unless desired for some reason,...
int getNumDevices() const
The amount of available devices at initialization.
Structure to hold the parameters of a pinhole camera model.
int getConnectedDevices()
Get a list of the connected OpenNI2 sensors.
void open(unsigned sensor_id=0)
Try to open the camera (all the parameters [resolution,fps,...] must be set before calling this) - us...
void getNextFrameRGB(mrpt::utils::CImage &rgb_img, uint64_t ×tamp, bool &there_is_obs, bool &hardware_error, unsigned sensor_id=0)
The main data retrieving function, to be called after calling loadConfig() and initialize().
unsigned int openDevicesBySerialNum(const std::set< unsigned > &vSerialRequired)
Open a set of RGBD devices specified by their serial number.
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