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9 #ifndef mrpt_COpenNI2Generic_H
10 #define mrpt_COpenNI2Generic_H
35 int width,
int height,
float fps = 30.0f,
bool open_streams_now =
true);
55 bool& hardware_error,
unsigned sensor_id = 0);
68 bool& hardware_error,
unsigned sensor_id = 0);
82 bool& hardware_error,
unsigned sensor_id = 0);
92 void open(
unsigned sensor_id = 0);
102 const std::set<unsigned>& vSerialRequired);
115 const unsigned int SerialRequired,
int& sensor_id)
const;
125 bool isOpen(
const unsigned sensor_id)
const;
129 void close(
unsigned sensor_id = 0);
int getNumDevices() const
The number of available devices at initialization.
bool getDepthSensorParam(mrpt::img::TCamera ¶m, unsigned sensor_id=0) const
bool m_grab_image
The data that the RGBD sensors can return.
void getNextFrameRGB(mrpt::img::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().
void setVerbose(bool verbose)
COpenNI2Generic()
Default ctor (width=640, height=480, fps=30)
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().
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.
bool start()
Open all sensor streams (normally called automatically at constructor, no need to call it manually).
void kill()
Kill the OpenNI2 driver.
bool isOpen(const unsigned sensor_id) const
Whether there is a working connection to the sensor.
unsigned int openDeviceBySerial(const unsigned int SerialRequired)
Open a RGBD device specified by its serial number.
static int getNumInstances()
Get the number of OpenNI2 cameras currently open via COpenNI2Generic.
void close(unsigned sensor_id=0)
Close the connection to the sensor (no need to call it manually unless desired for some reason,...
bool getColorSensorParam(mrpt::img::TCamera ¶m, unsigned sensor_id=0) const
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 __int64 uint64_t
Structure to hold the parameters of a pinhole camera model.
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().
unsigned int openDevicesBySerialNum(const std::set< unsigned > &vSerialRequired)
Open a set of RGBD devices specified by their serial number.
GLenum GLsizei GLsizei height
A class for storing images as grayscale or RGB bitmaps.
int getConnectedDevices()
Get a list of the connected OpenNI2 sensors.
bool getDeviceIDFromSerialNum(const unsigned int SerialRequired, int &sensor_id) const
Get the ID of the device corresponding to 'SerialRequired'.
void open(unsigned sensor_id=0)
Try to open the camera (all the parameters [resolution,fps,...] must be set before calling this) - us...
GLsizei const GLchar ** string
void showLog(const std::string &message) const
~COpenNI2Generic()
Default ctor.
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