Point Cloud Library (PCL)
1.11.1
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34 #include <pcl/pcl_exports.h>
37 #include <pcl/io/image.h>
38 #include <pcl/io/image_depth.h>
39 #include <pcl/io/image_ir.h>
41 #include <pcl/io/io_exception.h>
42 #include <pcl/io/openni2/openni2_video_mode.h>
76 using Ptr = shared_ptr<OpenNI2Device>;
77 using ConstPtr = shared_ptr<const OpenNI2Device>;
151 const std::vector<OpenNI2VideoMode>&
153 const std::vector<OpenNI2VideoMode>&
155 const std::vector<OpenNI2VideoMode>&
209 return (openni_device_->getDepthColorSyncEnabled ());
221 return (openni_device_->isFile());
278 std::shared_ptr<openni::VideoStream>
280 std::shared_ptr<openni::VideoStream>
282 std::shared_ptr<openni::VideoStream>
299 resizingSupported (std::size_t input_width, std::size_t input_height, std::size_t output_width, std::size_t output_height)
const;
std::shared_ptr< openni::VideoStream > getColorVideoStream() const
bool isColorVideoModeSupported(const OpenNI2VideoMode &video_mode) const
std::vector< OpenNI2VideoMode > ir_video_modes_
std::vector< OpenNI2VideoMode > depth_video_modes_
std::shared_ptr< openni::VideoStream > getIRVideoStream() const
bool findCompatibleVideoMode(const std::vector< OpenNI2VideoMode > &supportedModes, const OpenNI2VideoMode &output_mode, OpenNI2VideoMode &mode) const
bool findCompatibleIRMode(const OpenNI2VideoMode &requested_mode, OpenNI2VideoMode &actual_mode) const
void setAutoExposure(bool enable)
OpenNI2VideoMode getDefaultDepthMode() const
bool setPlaybackSpeed(double speed)
Set the playback speed if the device is an recorded stream.
const std::string getUri() const
bool isDepthStreamStarted()
const std::vector< OpenNI2VideoMode > & getSupportedDepthVideoModes() const
float baseline_
distance between the projector and the IR camera in meters
shared_ptr< const OpenNI2Device > ConstPtr
void processDepthFrame(openni::VideoStream &stream)
PCL_EXPORTS std::ostream & operator<<(std::ostream &stream, const OpenNI2Device &device)
void setDepthCallback(StreamCallbackFunction depth_callback)
std::shared_ptr< openni::VideoStream > ir_video_stream_
const OpenNI2VideoMode getIRVideoMode()
bool color_video_started_
shared_ptr< IRImage > Ptr
const OpenNI2VideoMode getColorVideoMode()
bool isColorStreamStarted()
void setImageRegistrationMode(bool enabled)
int getIRFrameCount()
Get absolute number of ir frames in the current stream.
const std::vector< OpenNI2VideoMode > & getSupportedIRVideoModes() const
std::shared_ptr< openni::VideoStream > color_video_stream_
int getDepthFrameCount()
Get absolute number of depth frames in the current stream.
std::function< void(IRImage::Ptr, void *cookie) > IRImageCallbackFunction
std::uint64_t getShadowValue()
bool findCompatibleColorMode(const OpenNI2VideoMode &requested_mode, OpenNI2VideoMode &actual_mode) const
bool isIRVideoModeSupported(const OpenNI2VideoMode &video_mode) const
std::uint64_t shadow_value_
the value for shadow (occluded pixels)
const std::vector< OpenNI2VideoMode > & getSupportedColorVideoModes() const
std::shared_ptr< OpenNI2FrameListener > color_frame_listener
bool hasColorSensor() const
float getDepthFocalLength() const
const OpenNI2VideoMode getDepthVideoMode()
std::function< void(DepthImage::Ptr, void *cookie) > DepthImageCallbackFunction
void setColorVideoMode(const OpenNI2VideoMode &video_mode)
const std::string getVendor() const
Image interface class providing an interface to fill a RGB or Grayscale image buffer.
std::vector< OpenNI2VideoMode > color_video_modes_
std::shared_ptr< openni::Device > openni_device_
std::shared_ptr< OpenNI2FrameListener > depth_frame_listener
void setSynchronization(bool enableSync)
std::function< void(Image::Ptr, void *cookie) > ImageCallbackFunction
const std::string getStringID() const
std::uint64_t no_sample_value_
the value for pixels without a valid disparity measurement
shared_ptr< OpenNI2Device > Ptr
float getIRFocalLength() const
bool getAutoWhiteBalance() const
bool findCompatibleDepthMode(const OpenNI2VideoMode &requested_mode, OpenNI2VideoMode &actual_mode) const
bool hasDepthSensor() const
std::uint16_t getUsbVendorId() const
This class provides methods to fill a depth or disparity image.
bool isImageRegistrationModeSupported() const
const std::string getName() const
std::uint16_t getUsbProductId() const
bool getAutoExposure() const
std::shared_ptr< OpenNI2FrameListener > ir_frame_listener
std::function< void(openni::VideoStream &stream)> StreamCallbackFunction
float getColorFocalLength() const
void setColorCallback(StreamCallbackFunction color_callback)
bool isDepthRegistered() const
void processIRFrame(openni::VideoStream &stream)
void setIRCallback(StreamCallbackFunction ir_callback)
Class containing just a reference to IR meta data.
std::shared_ptr< openni::VideoStream > getDepthVideoStream() const
bool resizingSupported(std::size_t input_width, std::size_t input_height, std::size_t output_width, std::size_t output_height) const
void setDepthVideoMode(const OpenNI2VideoMode &video_mode)
void processColorFrame(openni::VideoStream &stream)
bool isSynchronizationSupported()
void setIRVideoMode(const OpenNI2VideoMode &video_mode)
std::shared_ptr< openni::VideoStream > depth_video_stream_
std::shared_ptr< openni::DeviceInfo > device_info_
bool isDepthVideoModeSupported(const OpenNI2VideoMode &video_mode) const
int getColorFrameCount()
Get absolute number of color frames in the current stream.
OpenNI2VideoMode getDefaultColorMode() const
void setUseDeviceTimer(bool enable)
void setAutoWhiteBalance(bool enable)
Defines functions, macros and traits for allocating and using memory.
shared_ptr< DepthImage > Ptr
OpenNI2Device(const std::string &device_URI)
OpenNI2VideoMode getDefaultIRMode() const
bool depth_video_started_