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9 #ifndef mrpt_COpenNI2Generic_H
10 #define mrpt_COpenNI2Generic_H
38 int getConnectedDevices();
56 bool &hardware_error ,
57 unsigned sensor_id = 0);
71 bool &hardware_error ,
72 unsigned sensor_id = 0);
82 void getNextFrameRGBD(
85 bool &hardware_error ,
86 unsigned sensor_id = 0);
96 void open(
unsigned sensor_id = 0);
102 unsigned int openDevicesBySerialNum(
const std::set<unsigned>& vSerialRequired);
108 unsigned int openDeviceBySerial(
const unsigned int SerialRequired);
112 bool getDeviceIDFromSerialNum(
const unsigned int SerialRequired,
int& sensor_id)
const;
115 bool isOpen(
const unsigned sensor_id)
const;
119 void close(
unsigned sensor_id = 0);
122 int getNumDevices()
const;
125 void setVerbose(
bool verbose);
126 bool isVerbose()
const;
132 static std::vector<stlplus::smart_ptr<CDevice> >
vDevices;
145 void showLog(
const std::string& message)
const;
static std::vector< stlplus::smart_ptr< CDevice > > vDevices
bool m_grab_image
The data that the RGBD sensors can return.
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.
A class for storing images as grayscale or RGB bitmaps.
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,...
Structure to hold the parameters of a pinhole camera model.
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