Detailed Description

An abstract class for accessing OpenNI2 compatible sensors.

This class permits to access several sensors simultaneously. The same options (resolution, fps, etc.) are used for every sensor.

More references to read:

http://http://www.openni.org/

Definition at line 23 of file COpenNI2Generic.h.

#include <mrpt/hwdrivers/COpenNI2Generic.h>

Inheritance diagram for mrpt::hwdrivers::COpenNI2Generic:

Classes
class	CDevice

Public Member Functions
	COpenNI2Generic ()
	Default ctor (width=640, height=480, fps=30) More...

	COpenNI2Generic (int width, int height, float fps=30.0f, bool open_streams_now=true)
	Ctor. More...

	~COpenNI2Generic ()
	Default ctor. More...

void	getNextFrameRGB (mrpt::img::CImage &rgb_img, mrpt::system::TTimeStamp &timestamp, bool &there_is_obs, bool &hardware_error, unsigned sensor_id=0)
	The main data retrieving function, to be called after calling loadConfig() and initialize(). More...

void	getNextFrameD (mrpt::math::CMatrix_u16 &depth_img_mm, mrpt::system::TTimeStamp &timestamp, bool &there_is_obs, bool &hardware_error, unsigned sensor_id=0)
	The main data retrieving function, to be called after calling loadConfig() and initialize(). More...

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(). More...

void	setVerbose (bool verbose)

bool	isVerbose () const

bool	getColorSensorParam (mrpt::img::TCamera &param, unsigned sensor_id=0) const

bool	getDepthSensorParam (mrpt::img::TCamera &param, unsigned sensor_id=0) const

Open/Close device methods
void	open (unsigned sensor_id=0)
	Try to open the camera (all the parameters [resolution,fps,...] must be set before calling this) - users may also call initialize(), which in turn calls this method. More...

unsigned int	openDevicesBySerialNum (const std::set< unsigned > &vSerialRequired)
	Open a set of RGBD devices specified by their serial number. More...

unsigned int	openDeviceBySerial (const unsigned int SerialRequired)
	Open a RGBD device specified by its serial number. More...

bool	getDeviceIDFromSerialNum (const unsigned int SerialRequired, int &sensor_id) const
	Get the ID of the device corresponding to 'SerialRequired'. More...

bool	start ()
	Open all sensor streams (normally called automatically at constructor, no need to call it manually). More...

void	kill ()
	Kill the OpenNI2 driver. More...

bool	isOpen (const unsigned sensor_id) const
	Whether there is a working connection to the sensor. More...

void	close (unsigned sensor_id=0)
	Close the connection to the sensor (no need to call it manually unless desired for some reason, since it's called at destructor. More...

int	getNumDevices () const
	The number of available devices at initialization. More...

int	getConnectedDevices ()
	Get a list of the connected OpenNI2 sensors. More...

Static Public Member Functions
static int	getNumInstances ()
	Get the number of OpenNI2 cameras currently open via COpenNI2Generic. More...

Protected Member Functions
void	showLog (const std::string &message) const

Protected Attributes
std::vector< int >	vSerialNums
	A vector with the serial numbers of the available devices. More...

int	m_width {640}
	The same options (width, height and fps) are set for all the sensors. More...

int	m_height {480}

float	m_fps {30.0f}

int	m_rgb_format

int	m_depth_format

bool	m_verbose {false}

bool	m_grab_image {true}
	The data that the RGBD sensors can return. More...

bool	m_grab_depth {true}

bool	m_grab_3D_points {true}

Constructor & Destructor Documentation

◆ COpenNI2Generic() [1/2]

COpenNI2Generic::COpenNI2Generic ( )

Default ctor (width=640, height=480, fps=30)

Definition at line 63 of file COpenNI2Generic.cpp.

References mrpt::format(), and THROW_EXCEPTION.

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◆ COpenNI2Generic() [2/2]

COpenNI2Generic::COpenNI2Generic	(	int	width,
		int	height,
		float	fps = `30.0f`,
		bool	open_streams_now = `true`
	)

Ctor.

See also: start()

Definition at line 82 of file COpenNI2Generic.cpp.

References mrpt::format(), m_verbose, start(), and THROW_EXCEPTION.

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◆ ~COpenNI2Generic()

COpenNI2Generic::~COpenNI2Generic ( )

Default ctor.

Definition at line 137 of file COpenNI2Generic.cpp.

References kill(), and numInstances().

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Member Function Documentation

◆ close()

void COpenNI2Generic::close ( unsigned sensor_id = 0 )

Close the connection to the sensor (no need to call it manually unless desired for some reason, since it's called at destructor.

Definition at line 390 of file COpenNI2Generic.cpp.

References getNumDevices(), THROW_EXCEPTION, vDevices, and vDevices_mx.

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◆ getColorSensorParam()

bool COpenNI2Generic::getColorSensorParam	(	mrpt::img::TCamera &	param,
		unsigned	sensor_id = `0`
	)		const

Definition at line 513 of file COpenNI2Generic.cpp.

References mrpt::hwdrivers::COpenNI2Generic::CDevice::COLOR_STREAM, isOpen(), THROW_EXCEPTION, vDevices, and vDevices_mx.

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◆ getConnectedDevices()

int COpenNI2Generic::getConnectedDevices ( )

Get a list of the connected OpenNI2 sensors.

This method can or cannot be implemented in the derived class, depending on the need for it.

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.

Definition at line 166 of file COpenNI2Generic.cpp.

References mrpt::format(), getNumDevices(), m_depth_format, m_rgb_format, m_verbose, showLog(), THROW_EXCEPTION, vDevices, and vDevices_mx.

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◆ getDepthSensorParam()

bool COpenNI2Generic::getDepthSensorParam	(	mrpt::img::TCamera &	param,
		unsigned	sensor_id = `0`
	)		const

Definition at line 529 of file COpenNI2Generic.cpp.

References mrpt::hwdrivers::COpenNI2Generic::CDevice::DEPTH_STREAM, isOpen(), THROW_EXCEPTION, vDevices, and vDevices_mx.

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◆ getDeviceIDFromSerialNum()

bool COpenNI2Generic::getDeviceIDFromSerialNum	(	const unsigned int	SerialRequired,
		int &	sensor_id
	)		const

Get the ID of the device corresponding to 'SerialRequired'.

Definition at line 365 of file COpenNI2Generic.cpp.

References THROW_EXCEPTION, vDevices, and vDevices_mx.

◆ getNextFrameD()

void COpenNI2Generic::getNextFrameD	(	mrpt::math::CMatrix_u16 &	depth_img_mm,
		mrpt::system::TTimeStamp &	timestamp,
		bool &	there_is_obs,
		bool &	hardware_error,
		unsigned	sensor_id = `0`
	)

The main data retrieving function, to be called after calling loadConfig() and initialize().

Parameters

depth_img	The output retrieved depth image (only if there_is_obs=true).
timestamp	The timestamp of the capture (only if there_is_obs=true).
there_is_obs	If set to false, there was no new observation.
hardware_error	True on hardware/comms error.
sensor_id	The index of the sensor accessed.

Definition at line 448 of file COpenNI2Generic.cpp.

References mrpt::format(), getNumDevices(), showLog(), THROW_EXCEPTION, and vDevices.

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◆ getNextFrameRGB()

void COpenNI2Generic::getNextFrameRGB	(	mrpt::img::CImage &	rgb_img,
		mrpt::system::TTimeStamp &	timestamp,
		bool &	there_is_obs,
		bool &	hardware_error,
		unsigned	sensor_id = `0`
	)

The main data retrieving function, to be called after calling loadConfig() and initialize().

Parameters

out_img	The output retrieved RGB image (only if there_is_obs=true).
timestamp	The timestamp of the capture (only if there_is_obs=true).
there_is_obs	If set to false, there was no new observation.
hardware_error	True on hardware/comms error.
sensor_id	The index of the sensor accessed.
out_obs	The output retrieved observation (only if there_is_obs=true).
timestamp	The timestamp of the capture (only if there_is_obs=true).
there_is_obs	If set to false, there was no new observation.
hardware_error	True on hardware/comms error.
sensor_id	The index of the sensor accessed.

Definition at line 419 of file COpenNI2Generic.cpp.

References mrpt::format(), getNumDevices(), showLog(), THROW_EXCEPTION, and vDevices.

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◆ getNextFrameRGBD()

void COpenNI2Generic::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().

Parameters

out_obs	The output retrieved observation (only if there_is_obs=true).
there_is_obs	If set to false, there was no new observation.
hardware_error	True on hardware/comms error.
sensor_id	The index of the sensor accessed.

See also: doProcess

Parameters

out_obs	The output retrieved observation (only if there_is_obs=true).
there_is_obs	If set to false, there was no new observation.
hardware_error	True on hardware/comms error.
sensor_id	The index of the sensor accessed.

Definition at line 485 of file COpenNI2Generic.cpp.

References mrpt::format(), getNumDevices(), showLog(), THROW_EXCEPTION, and vDevices.

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◆ getNumDevices()

int COpenNI2Generic::getNumDevices ( ) const

The number of available devices at initialization.

Definition at line 146 of file COpenNI2Generic.cpp.

References vDevices, and vDevices_mx.

Referenced by close(), getConnectedDevices(), getNextFrameD(), getNextFrameRGB(), getNextFrameRGBD(), isOpen(), and open().

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◆ getNumInstances()

int COpenNI2Generic::getNumInstances ( )

static

Get the number of OpenNI2 cameras currently open via COpenNI2Generic.

Definition at line 55 of file COpenNI2Generic.cpp.

References numInstances().

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◆ isOpen()

bool COpenNI2Generic::isOpen ( const unsigned sensor_id ) const

Whether there is a working connection to the sensor.

Definition at line 244 of file COpenNI2Generic.cpp.

References getNumDevices(), vDevices, and vDevices_mx.

Referenced by getColorSensorParam(), getDepthSensorParam(), open(), and openDevicesBySerialNum().

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◆ isVerbose()

bool COpenNI2Generic::isVerbose ( ) const

Definition at line 152 of file COpenNI2Generic.cpp.

References m_verbose.

Referenced by showLog().

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◆ kill()

void COpenNI2Generic::kill ( )

Kill the OpenNI2 driver.

See also: start()

Definition at line 233 of file COpenNI2Generic.cpp.

References THROW_EXCEPTION, vDevices, and vDevices_mx.

Referenced by ~COpenNI2Generic().

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◆ open()

void COpenNI2Generic::open ( unsigned sensor_id = 0 )

Try to open the camera (all the parameters [resolution,fps,...] must be set before calling this) - users may also call initialize(), which in turn calls this method.

Raises an exception upon error.

Exceptions

std::exception A textual description of the error.

Definition at line 258 of file COpenNI2Generic.cpp.

References mrpt::format(), getNumDevices(), isOpen(), m_fps, m_height, m_verbose, m_width, showLog(), THROW_EXCEPTION, vDevices, and vDevices_mx.

Referenced by openDevicesBySerialNum().

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◆ openDeviceBySerial()

unsigned int COpenNI2Generic::openDeviceBySerial ( const unsigned int SerialRequired )

Open a RGBD device specified by its serial number.

This method is a wrapper for openDevicesBySerialNum(const std::set<unsigned>& vSerialRequired) This method requires to open the sensors which are still closed to read their serial.

Definition at line 357 of file COpenNI2Generic.cpp.

References openDevicesBySerialNum().

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◆ openDevicesBySerialNum()

unsigned int COpenNI2Generic::openDevicesBySerialNum ( const std::set< unsigned > & vSerialRequired )

Open a set of RGBD devices specified by their serial number.

Raises an exception when the demanded serial numbers are not among the connected devices. This function also fills a vector with the serial numbers of the connected OpenNI2 sensors (this requires openning the sensors which are still closed to read their serial)

Definition at line 302 of file COpenNI2Generic.cpp.

References mrpt::format(), isOpen(), m_fps, m_height, m_verbose, m_width, open(), showLog(), THROW_EXCEPTION, vDevices, and vDevices_mx.

Referenced by openDeviceBySerial().

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◆ setVerbose()

void COpenNI2Generic::setVerbose ( bool verbose )

Definition at line 151 of file COpenNI2Generic.cpp.

References m_verbose, and verbose.

◆ showLog()

void COpenNI2Generic::showLog ( const std::string & message ) const

protected

Definition at line 153 of file COpenNI2Generic.cpp.

References isVerbose().

Referenced by getConnectedDevices(), getNextFrameD(), getNextFrameRGB(), getNextFrameRGBD(), open(), and openDevicesBySerialNum().

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◆ start()

bool COpenNI2Generic::start ( )

Open all sensor streams (normally called automatically at constructor, no need to call it manually).

Returns: false on error

See also: kill() to close

Definition at line 112 of file COpenNI2Generic.cpp.

References initialize(), numInstances(), and THROW_EXCEPTION.

Referenced by COpenNI2Generic().

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Member Data Documentation

◆ m_depth_format

int mrpt::hwdrivers::COpenNI2Generic::m_depth_format

protected

Definition at line 155 of file COpenNI2Generic.h.

Referenced by getConnectedDevices().

◆ m_fps

float mrpt::hwdrivers::COpenNI2Generic::m_fps {30.0f}

protected

Definition at line 154 of file COpenNI2Generic.h.

Referenced by open(), and openDevicesBySerialNum().

◆ m_grab_3D_points

bool mrpt::hwdrivers::COpenNI2Generic::m_grab_3D_points {true}

protected

Definition at line 161 of file COpenNI2Generic.h.

Referenced by mrpt::hwdrivers::COpenNI2Sensor::enableGrab3DPoints(), and mrpt::hwdrivers::COpenNI2Sensor::isGrab3DPointsEnabled().

◆ m_grab_depth

bool mrpt::hwdrivers::COpenNI2Generic::m_grab_depth {true}

protected

Definition at line 161 of file COpenNI2Generic.h.

Referenced by mrpt::hwdrivers::COpenNI2Sensor::enableGrabDepth(), and mrpt::hwdrivers::COpenNI2Sensor::isGrabDepthEnabled().

◆ m_grab_image

bool mrpt::hwdrivers::COpenNI2Generic::m_grab_image {true}

protected

The data that the RGBD sensors can return.

Default: all true

Definition at line 161 of file COpenNI2Generic.h.

Referenced by mrpt::hwdrivers::COpenNI2Sensor::enableGrabRGB(), and mrpt::hwdrivers::COpenNI2Sensor::isGrabRGBEnabled().

◆ m_height

int mrpt::hwdrivers::COpenNI2Generic::m_height {480}

protected

Definition at line 153 of file COpenNI2Generic.h.

Referenced by open(), and openDevicesBySerialNum().

◆ m_rgb_format

int mrpt::hwdrivers::COpenNI2Generic::m_rgb_format

protected

Definition at line 155 of file COpenNI2Generic.h.

Referenced by getConnectedDevices().

◆ m_verbose

bool mrpt::hwdrivers::COpenNI2Generic::m_verbose {false}

protected

Definition at line 156 of file COpenNI2Generic.h.

Referenced by COpenNI2Generic(), getConnectedDevices(), isVerbose(), open(), openDevicesBySerialNum(), and setVerbose().

◆ m_width

int mrpt::hwdrivers::COpenNI2Generic::m_width {640}

protected

The same options (width, height and fps) are set for all the sensors.

(This could be changed if necessary)

Definition at line 153 of file COpenNI2Generic.h.

Referenced by open(), and openDevicesBySerialNum().

◆ vSerialNums

std::vector<int> mrpt::hwdrivers::COpenNI2Generic::vSerialNums

protected

A vector with the serial numbers of the available devices.

Definition at line 145 of file COpenNI2Generic.h.

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ COpenNI2Generic() [1/2]

◆ COpenNI2Generic() [2/2]

◆ ~COpenNI2Generic()

Member Function Documentation

◆ close()

◆ getColorSensorParam()

◆ getConnectedDevices()

◆ getDepthSensorParam()

◆ getDeviceIDFromSerialNum()

◆ getNextFrameD()

◆ getNextFrameRGB()

◆ getNextFrameRGBD()

◆ getNumDevices()

◆ getNumInstances()

◆ isOpen()

◆ isVerbose()

◆ kill()

◆ open()

◆ openDeviceBySerial()

◆ openDevicesBySerialNum()

◆ setVerbose()

◆ showLog()

◆ start()

Member Data Documentation

◆ m_depth_format

◆ m_fps

◆ m_grab_3D_points

◆ m_grab_depth

◆ m_grab_image

◆ m_height

◆ m_rgb_format

◆ m_verbose

◆ m_width

◆ vSerialNums