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32 int width,
int height,
float fps = 30.0f,
bool open_streams_now =
true);
52 bool& there_is_obs,
bool& hardware_error,
unsigned sensor_id = 0);
66 bool& hardware_error,
unsigned sensor_id = 0);
80 bool& hardware_error,
unsigned sensor_id = 0);
90 void open(
unsigned sensor_id = 0);
100 const std::set<unsigned>& vSerialRequired);
113 const unsigned int SerialRequired,
int& sensor_id)
const;
123 bool isOpen(
const unsigned sensor_id)
const;
127 void close(
unsigned sensor_id = 0);
157 void showLog(
const std::string& message)
const;
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 setVerbose(bool verbose)
COpenNI2Generic()
Default ctor (width=640, height=480, fps=30)
void getNextFrameRGB(mrpt::img::CImage &rgb_img, mrpt::system::TTimeStamp ×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 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().
Contains classes for various device interfaces.
An abstract class for accessing OpenNI2 compatible sensors.
int m_width
The same options (width, height and fps) are set for all the sensors.
void getNextFrameD(mrpt::math::CMatrix_u16 &depth_img_mm, mrpt::system::TTimeStamp ×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().
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.
A range or depth 3D scan measurement, as from a time-of-flight range camera or a structured-light dep...
mrpt::Clock::time_point TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
Parameters for the Brown-Conrady camera lens distortion model.
unsigned int openDevicesBySerialNum(const std::set< unsigned > &vSerialRequired)
Open a set of RGBD devices specified by their serial number.
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...
void showLog(const std::string &message) const
~COpenNI2Generic()
Default ctor.
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