9 #ifndef mrpt_COpenNI2Generic_H
10 #define mrpt_COpenNI2Generic_H
56 bool &hardware_error ,
57 unsigned sensor_id = 0);
71 bool &hardware_error ,
72 unsigned sensor_id = 0);
85 bool &hardware_error ,
86 unsigned sensor_id = 0);
96 void open(
unsigned sensor_id = 0);
115 bool isOpen(
const unsigned sensor_id)
const;
132 static std::vector<stlplus::smart_ptr<CDevice> >
vDevices;
145 void showLog(
const std::string& message)
const;
An abstract class for accessing OpenNI2 compatible sensors.
COpenNI2Generic()
Default ctor.
bool getColorSensorParam(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.
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().
void showLog(const std::string &message) const
~COpenNI2Generic()
Default ctor.
int getConnectedDevices()
Get a list of the connected OpenNI2 sensors.
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().
bool isOpen(const unsigned sensor_id) const
Check if the given 'sensor_id' has been open.
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().
bool getDeviceIDFromSerialNum(const unsigned int SerialRequired, int &sensor_id) const
Get the ID of the device corresponding to 'SerialRequired'.
static std::vector< stlplus::smart_ptr< CDevice > > vDevices
std::vector< int > vSerialNums
A vector with the serial numbers of the available devices.
void setVerbose(bool verbose)
void open(unsigned sensor_id=0)
Try to open the camera (all the parameters [resolution,fps,...] must be set before calling this) - us...
int getNumDevices() const
The amount of available devices at initialization.
void close(unsigned sensor_id=0)
Close the conection to the sensor (not need to call it manually unless desired for some reason,...
void kill()
Kill the OpenNI2 driver.
bool m_grab_3D_points
Default: all true.
unsigned int openDevicesBySerialNum(const std::set< unsigned > &vSerialRequired)
Open a set of RGBD devices specified by their serial number.
bool getDepthSensorParam(mrpt::utils::TCamera ¶m, unsigned sensor_id=0) const
This class is a "CSerializable" wrapper for "CMatrixFloat".
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement,...
A class for storing images as grayscale or RGB bitmaps.
Structure to hold the parameters of a pinhole camera model.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.