MRPT  1.9.9
List of all members | Classes | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes
mrpt::hwdrivers::COpenNI2Generic Class Reference

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:

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::CMatrixF &depth_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 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.

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ ~COpenNI2Generic()

COpenNI2Generic::~COpenNI2Generic ( )

Default ctor.

Definition at line 137 of file COpenNI2Generic.cpp.

References kill(), and numInstances().

Here is the call graph for this function:

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 394 of file COpenNI2Generic.cpp.

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

Here is the call graph for this function:

◆ getColorSensorParam()

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

Definition at line 537 of file COpenNI2Generic.cpp.

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

Here is the call graph for this function:

◆ 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
Thismethod 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.

Here is the call graph for this function:

◆ getDepthSensorParam()

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

Definition at line 554 of file COpenNI2Generic.cpp.

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

Here is the call graph for this function:

◆ getDeviceIDFromSerialNum()

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

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

Definition at line 368 of file COpenNI2Generic.cpp.

References MRPT_UNUSED_PARAM, THROW_EXCEPTION, vDevices, and vDevices_mx.

◆ getNextFrameD()

void COpenNI2Generic::getNextFrameD ( mrpt::math::CMatrixF depth_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
depth_imgThe output retrieved depth image (only if there_is_obs=true).
timestampThe timestamp of the capture (only if there_is_obs=true).
there_is_obsIf set to false, there was no new observation.
hardware_errorTrue on hardware/comms error.
sensor_idThe index of the sensor accessed.

Definition at line 466 of file COpenNI2Generic.cpp.

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

Here is the call graph for this function:

◆ 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_imgThe output retrieved RGB image (only if there_is_obs=true).
timestampThe timestamp of the capture (only if there_is_obs=true).
there_is_obsIf set to false, there was no new observation.
hardware_errorTrue on hardware/comms error.
sensor_idThe index of the sensor accessed.
out_obsThe output retrieved observation (only if there_is_obs=true).
timestampThe timestamp of the capture (only if there_is_obs=true).
there_is_obsIf set to false, there was no new observation.
hardware_errorTrue on hardware/comms error.
sensor_idThe index of the sensor accessed.

Definition at line 424 of file COpenNI2Generic.cpp.

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

Here is the call graph for this function:

◆ 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_obsThe output retrieved observation (only if there_is_obs=true).
there_is_obsIf set to false, there was no new observation.
hardware_errorTrue on hardware/comms error.
sensor_idThe index of the sensor accessed.
See also
doProcess
Parameters
out_obsThe output retrieved observation (only if there_is_obs=true).
there_is_obsIf set to false, there was no new observation.
hardware_errorTrue on hardware/comms error.
sensor_idThe index of the sensor accessed.

Definition at line 506 of file COpenNI2Generic.cpp.

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

Here is the call graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ 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().

Here is the call graph for this function:

◆ 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(), MRPT_UNUSED_PARAM, THROW_EXCEPTION, vDevices, and vDevices_mx.

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

Here is the call graph for this function:
Here is the caller graph for this function:

◆ isVerbose()

bool COpenNI2Generic::isVerbose ( ) const

Definition at line 152 of file COpenNI2Generic.cpp.

References m_verbose.

Referenced by showLog().

Here is the caller graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ 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::exceptionA textual description of the error.

Definition at line 259 of file COpenNI2Generic.cpp.

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

Referenced by openDevicesBySerialNum().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ 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 360 of file COpenNI2Generic.cpp.

References openDevicesBySerialNum().

Here is the call graph for this function:

◆ 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 304 of file COpenNI2Generic.cpp.

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

Referenced by openDeviceBySerial().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ 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().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ 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().

Here is the call graph for this function:
Here is the caller graph for this function:

Member Data Documentation

◆ m_depth_format

int mrpt::hwdrivers::COpenNI2Generic::m_depth_format
protected

Definition at line 154 of file COpenNI2Generic.h.

Referenced by getConnectedDevices().

◆ m_fps

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

Definition at line 153 of file COpenNI2Generic.h.

Referenced by open(), and openDevicesBySerialNum().

◆ m_grab_3D_points

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

◆ m_grab_depth

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

◆ 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 160 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 152 of file COpenNI2Generic.h.

Referenced by open(), and openDevicesBySerialNum().

◆ m_rgb_format

int mrpt::hwdrivers::COpenNI2Generic::m_rgb_format
protected

Definition at line 154 of file COpenNI2Generic.h.

Referenced by getConnectedDevices().

◆ m_verbose

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

◆ 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 152 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 144 of file COpenNI2Generic.h.




Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: 479715d5b Tue Nov 12 07:26:21 2019 +0100 at mar nov 12 07:30:12 CET 2019