9 #ifndef mrpt_COpenNI2Generic_H 10 #define mrpt_COpenNI2Generic_H 35 int width,
int height,
float fps = 30.0f,
bool open_streams_now =
true);
52 bool& hardware_error,
unsigned sensor_id = 0);
65 bool& hardware_error,
unsigned sensor_id = 0);
79 bool& hardware_error,
unsigned sensor_id = 0);
89 void open(
unsigned sensor_id = 0);
99 const std::set<unsigned>& vSerialRequired);
112 const unsigned int SerialRequired,
int& sensor_id)
const;
122 bool isOpen(
const unsigned sensor_id)
const;
126 void close(
unsigned sensor_id = 0);
147 static std::vector<std::shared_ptr<CDevice>>
vDevices;
bool m_grab_image
The data that the RGBD sensors can return.
void setVerbose(bool verbose)
int getNumDevices() const
The number of available devices at initialization.
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().
A class for storing images as grayscale or RGB bitmaps.
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor.
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().
COpenNI2Generic()
Default ctor (width=640, height=480, fps=30)
int m_width
The same options (width, height and fps) are set for all the sensors.
void kill()
Kill the OpenNI2 driver.
bool getDepthSensorParam(mrpt::utils::TCamera ¶m, unsigned sensor_id=0) const
unsigned int openDeviceBySerial(const unsigned int SerialRequired)
Open a RGBD device specified by its serial number.
bool start()
Open all sensor streams (normally called automatically at constructor, no need to call it manually)...
bool isOpen(const unsigned sensor_id) const
Whether there is a working connection to the sensor.
void close(unsigned sensor_id=0)
Close the connection to the sensor (no need to call it manually unless desired for some reason...
An abstract class for accessing OpenNI2 compatible sensors.
std::vector< int > vSerialNums
A vector with the serial numbers of the available devices.
GLsizei const GLchar ** string
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().
static std::vector< std::shared_ptr< CDevice > > vDevices
unsigned int openDevicesBySerialNum(const std::set< unsigned > &vSerialRequired)
Open a set of RGBD devices specified by their serial number.
unsigned __int64 uint64_t
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
bool getColorSensorParam(mrpt::utils::TCamera ¶m, unsigned sensor_id=0) const
void open(unsigned sensor_id=0)
Try to open the camera (all the parameters [resolution,fps,...] must be set before calling this) - us...
bool getDeviceIDFromSerialNum(const unsigned int SerialRequired, int &sensor_id) const
Get the ID of the device corresponding to 'SerialRequired'.
int getConnectedDevices()
Get a list of the connected OpenNI2 sensors.
void showLog(const std::string &message) const
~COpenNI2Generic()
Default ctor.
This class is a "CSerializable" wrapper for "CMatrixFloat".
GLenum GLsizei GLsizei height
Structure to hold the parameters of a pinhole camera model.