42 #include <pcl/pcl_config.h> 47 #include <pcl/point_cloud.h> 48 #include <pcl/io/eigen.h> 49 #include <pcl/io/boost.h> 50 #include <pcl/io/grabber.h> 51 #include <pcl/io/openni_camera/openni_driver.h> 52 #include <pcl/io/openni_camera/openni_device_kinect.h> 53 #include <pcl/io/openni_camera/openni_image.h> 54 #include <pcl/io/openni_camera/openni_depth_image.h> 55 #include <pcl/io/openni_camera/openni_ir_image.h> 58 #include <pcl/common/synchronizer.h> 74 using Ptr = shared_ptr<OpenNIGrabber>;
75 using ConstPtr = shared_ptr<const OpenNIGrabber>;
79 OpenNI_Default_Mode = 0,
86 OpenNI_QQVGA_25Hz = 7,
87 OpenNI_QQVGA_30Hz = 8,
109 const Mode& depth_mode = OpenNI_Default_Mode,
110 const Mode& image_mode = OpenNI_Default_Mode);
125 isRunning () const override;
128 getName () const override;
132 getFramesPerSecond () const override;
139 std::vector<std::pair<
int, XnMapOutputMode> >
140 getAvailableDepthModes () const;
143 std::vector<std::pair<
int, XnMapOutputMode> >
144 getAvailableImageModes () const;
155 setRGBCameraIntrinsics (const
double rgb_focal_length_x,
156 const
double rgb_focal_length_y,
157 const
double rgb_principal_point_x,
158 const
double rgb_principal_point_y)
160 rgb_focal_length_x_ = rgb_focal_length_x;
161 rgb_focal_length_y_ = rgb_focal_length_y;
162 rgb_principal_point_x_ = rgb_principal_point_x;
163 rgb_principal_point_y_ = rgb_principal_point_y;
174 double &rgb_focal_length_y,
175 double &rgb_principal_point_x,
176 double &rgb_principal_point_y)
const 178 rgb_focal_length_x = rgb_focal_length_x_;
179 rgb_focal_length_y = rgb_focal_length_y_;
180 rgb_principal_point_x = rgb_principal_point_x_;
181 rgb_principal_point_y = rgb_principal_point_y_;
194 rgb_focal_length_x_ = rgb_focal_length_y_ = rgb_focal_length;
207 rgb_focal_length_x_ = rgb_focal_length_x;
208 rgb_focal_length_y_ = rgb_focal_length_y;
218 rgb_focal_length_x = rgb_focal_length_x_;
219 rgb_focal_length_y = rgb_focal_length_y_;
232 const double depth_focal_length_y,
233 const double depth_principal_point_x,
234 const double depth_principal_point_y)
236 depth_focal_length_x_ = depth_focal_length_x;
237 depth_focal_length_y_ = depth_focal_length_y;
238 depth_principal_point_x_ = depth_principal_point_x;
239 depth_principal_point_y_ = depth_principal_point_y;
250 double &depth_focal_length_y,
251 double &depth_principal_point_x,
252 double &depth_principal_point_y)
const 254 depth_focal_length_x = depth_focal_length_x_;
255 depth_focal_length_y = depth_focal_length_y_;
256 depth_principal_point_x = depth_principal_point_x_;
257 depth_principal_point_y = depth_principal_point_y_;
268 depth_focal_length_x_ = depth_focal_length_y_ = depth_focal_length;
281 depth_focal_length_x_ = depth_focal_length_x;
282 depth_focal_length_y_ = depth_focal_length_y;
292 depth_focal_length_x = depth_focal_length_x_;
293 depth_focal_length_y = depth_focal_length_y_;
305 std::size_t size)
const 308 auto openni_device = this->getDevice ();
314 for (std::size_t i=0; i<size; ++i)
316 *depth_data_it = openni_device->shiftToDepth(*shift_data_it);
328 onInit (
const std::string& device_id,
const Mode& depth_mode,
const Mode& image_mode);
332 setupDevice (
const std::string& device_id,
const Mode& depth_mode,
const Mode& image_mode);
340 startSynchronization ();
344 stopSynchronization ();
348 mapConfigMode2XnMode (
int mode, XnMapOutputMode &xnmode)
const;
375 signalsChanged ()
override;
381 checkImageAndDepthSynchronizationRequired ();
385 checkImageStreamRequired ();
389 checkDepthStreamRequired ();
393 checkIRStreamRequired ();
450 bool operator () (
const XnMapOutputMode& mode1,
const XnMapOutputMode & mode2)
const 452 if (mode1.nXRes < mode2.nXRes)
454 if (mode1.nXRes > mode2.nXRes)
456 if (mode1.nYRes < mode2.nYRes)
458 if (mode1.nYRes > mode2.nYRes)
460 return (mode1.nFPS < mode2.nFPS);
504 #endif // HAVE_OPENNI boost::shared_array< unsigned short > depth_buffer_
void setDepthFocalLength(const double depth_focal_length_x, const double depth_focal_length_y)
Set the Depth image focal length.
boost::signals2::signal< sig_cb_openni_ir_depth_image > * ir_depth_image_signal_
Synchronizer< openni_wrapper::Image::Ptr, openni_wrapper::DepthImage::Ptr > rgb_sync_
shared_ptr< PointCloud< PointT > > Ptr
Defines functions, macros and traits for allocating and using memory.
std::string depth_frame_id_
openni_wrapper::OpenNIDevice::Ptr getDevice() const
Get a pcl::shared pointer to the openni_wrapper::OpenNIDevice object.
double depth_principal_point_y_
The depth image principal point (cy).
void(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &) sig_cb_openni_point_cloud
Synchronizer< openni_wrapper::IRImage::Ptr, openni_wrapper::DepthImage::Ptr > ir_sync_
double rgb_principal_point_y_
The RGB image principal point (cy).
double rgb_focal_length_x_
The RGB image focal length (fx).
boost::signals2::signal< sig_cb_openni_point_cloud > * point_cloud_signal_
boost::signals2::signal< sig_cb_openni_ir_image > * ir_image_signal_
void getDepthFocalLength(double &depth_focal_length_x, double &depth_focal_length_y) const
Return the Depth focal length parameters (fx, fy)
openni_wrapper::OpenNIDevice::Ptr device_
The actual openni device.
Grabber interface for PCL 1.x device drivers.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Grabber for OpenNI devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live) ...
void(const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &) sig_cb_openni_point_cloud_i
void(const openni_wrapper::DepthImage::Ptr &) sig_cb_openni_depth_image
boost::signals2::signal< sig_cb_openni_point_cloud_rgba > * point_cloud_rgba_signal_
void(const openni_wrapper::Image::Ptr &, const openni_wrapper::DepthImage::Ptr &, float) sig_cb_openni_image_depth_image
pcl::shared_ptr< IRImage > Ptr
void setDepthCameraIntrinsics(const double depth_focal_length_x, const double depth_focal_length_y, const double depth_principal_point_x, const double depth_principal_point_y)
Set the Depth camera parameters (fx, fy, cx, cy)
void setRGBFocalLength(const double rgb_focal_length_x, const double rgb_focal_length_y)
Set the RGB image focal length.
void getDepthCameraIntrinsics(double &depth_focal_length_x, double &depth_focal_length_y, double &depth_principal_point_x, double &depth_principal_point_y) const
Get the Depth camera parameters (fx, fy, cx, cy)
void(const openni_wrapper::IRImage::Ptr &, const openni_wrapper::DepthImage::Ptr &, float) sig_cb_openni_ir_depth_image
void setDepthFocalLength(const double depth_focal_length)
Set the Depth image focal length (fx = fy).
boost::signals2::signal< sig_cb_openni_depth_image > * depth_image_signal_
double depth_focal_length_x_
The depth image focal length (fx).
void convertShiftToDepth(const std::uint16_t *shift_data_ptr, std::uint16_t *depth_data_ptr, std::size_t size) const
Convert vector of raw shift values to depth values.
openni_wrapper::OpenNIDevice::CallbackHandle ir_callback_handle
openni_wrapper::OpenNIDevice::CallbackHandle image_callback_handle
pcl::shared_ptr< OpenNIDevice > Ptr
std::map< int, XnMapOutputMode > config2xn_map_
shared_ptr< const OpenNIGrabber > ConstPtr
boost::signals2::signal< sig_cb_openni_image_depth_image > * image_depth_image_signal_
void(const openni_wrapper::Image::Ptr &) sig_cb_openni_image
pcl::shared_ptr< Image > Ptr
void getRGBCameraIntrinsics(double &rgb_focal_length_x, double &rgb_focal_length_y, double &rgb_principal_point_x, double &rgb_principal_point_y) const
Get the RGB camera parameters (fx, fy, cx, cy)
double rgb_focal_length_y_
The RGB image focal length (fy).
boost::signals2::signal< sig_cb_openni_image > * image_signal_
shared_ptr< OpenNIGrabber > Ptr
void setRGBFocalLength(const double rgb_focal_length)
Set the RGB image focal length (fx = fy).
pcl::shared_ptr< DepthImage > Ptr
void getRGBFocalLength(double &rgb_focal_length_x, double &rgb_focal_length_y) const
Return the RGB focal length parameters (fx, fy)
boost::shared_array< unsigned short > ir_buffer_
boost::shared_array< unsigned char > rgb_array_
double rgb_principal_point_x_
The RGB image principal point (cx).
shared_ptr< const PointCloud< PointT > > ConstPtr
void(const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &) sig_cb_openni_point_cloud_rgb
unsigned depth_buffer_size_
double depth_focal_length_y_
The depth image focal length (fy).
std::string rgb_frame_id_
openni_wrapper::OpenNIDevice::CallbackHandle depth_callback_handle
void(const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &) sig_cb_openni_point_cloud_rgba
void(const openni_wrapper::IRImage::Ptr &) sig_cb_openni_ir_image
Defines all the PCL and non-PCL macros used.
boost::signals2::signal< sig_cb_openni_point_cloud_rgb > * point_cloud_rgb_signal_
boost::signals2::signal< sig_cb_openni_point_cloud_i > * point_cloud_i_signal_
double depth_principal_point_x_
The depth image principal point (cx).