#include <RGBD/Include/ImFusion/RGBD/OpenNI2RGBDStream.h>

Provides a stream interface for RGB-D sensors using the OpenNI2 framework. More...

Inheritance diagram for OpenNI2RGBDStream:

Detailed Description

Provides a stream interface for RGB-D sensors using the OpenNI2 framework.

This class enables device enumeration, configuration, calibration management, and frame acquisition for a wide range of OpenNI2-compatible devices.

Typical usage involves enumerating available devices, opening a stream, configuring parameters, and acquiring synchronized depth and color frames.

auto streams = OpenNI2RGBDStream::enumerate();
if (!streams.empty())
{
    auto& stream = streams.front();
    stream->open();
    // Acquire images, configure parameters, etc.
    stream->close();
}

Note

Supports multiple sensor types (Astra, Xtion, Primesense, etc.)
Calibration can be loaded from firmware, XML, or workspace.
Not thread-safe.

See also: RGBDStream

Public Types
enum	DistParamLayout { Auto = 0 , NewLayout , OldLayout }
	Sensor distortion parameter layout.

enum	SensorType { XtionProLive , Primesense , Kinect , Astra , AstraS , AstraPlusS , AstraPro , AstraProS , AstraMini , AstraMiniS , StructureSensor }
	Sensor type enumeration.

Public Types inherited from RGBDStream
enum	PixelFormat { Rgb24 , Rgb32 , Depth16 , Gray8 , Gray16 , Yuv422 }
	Pixel format enumeration for RGB-D frames. More...

Public Types inherited from Stream
enum class	ThreadingMode { BaseClassRunsWorkerThread , DerivedClassHandlesThreading }
	This flag represents the two supported threading modes of a Stream. More...

enum class	State { Closed , Opening , Open , Starting , Running , Pausing , Paused , Resuming , Stopping , Closing }

Public Types inherited from Data
enum	Kind { UNKNOWN = 0 , IMAGE = 1 , VOLUME = 2 , IMAGESET = 3 , VOLUMESET = 4 , IMAGESTREAM = 5 , VOLUMESTREAM = 6 , POINTSET = 7 , SURFACE = 8 , TRACKINGSTREAM = 9 , LIVETRACKINGSTREAM = TRACKINGSTREAM , TRACKINGDATA = 10 , TREE = 11 , TENSOR = 12 , POLYDATASTREAM = 13 , STEREOIMAGESET = 14 , STEREOIMAGESTREAM = 15 , VOLUMETRICMESH = 16 }
	Kind of data. More...

enum	Modality { NA = 0 , XRAY = 1 , CT = 2 , MRI = 3 , ULTRASOUND = 4 , VIDEO = 5 , NM = 6 , OCT = 7 , LABEL = 8 , DISTANCE = 9 }
	Image modality of the data. More...

Public Member Functions
	OpenNI2RGBDStream (const std::string &uri)
	Constructs a stream for the specified device URI.

	~OpenNI2RGBDStream () override
	Destroys the stream and releases resources.

bool	depthFormats (std::vector< FrameInfo > &formats) override
	Returns supported depth formats for the device.

bool	colorFormats (std::vector< FrameInfo > &formats) override
	Returns supported color formats for the device.

bool	depthFormat (FrameInfo &format) const override
	Returns the current depth format.

bool	colorFormat (FrameInfo &format) const override
	Returns the current color format.

bool	setDepthFormat (const FrameInfo &format) override
	Sets the depth format.

bool	setColorFormat (const FrameInfo &format) override
	Sets the color format.

bool	supportsColor () const override
	Returns true if the device supports color images.

std::string	name () const override
	Returns the device name.

std::string	uuid () override
	Returns the device UUID.

std::string	serialNumber () const override
	Returns the device serial number.

bool	supportsAutoWhiteBalance () const override
	Returns true if auto white balance is supported.

bool	setAutoWhiteBalanceEnabled (bool enable) override
	Enables or disables auto white balance.

bool	isAutoWhiteBalanceEnabled () const override
	Returns true if auto white balance is enabled.

bool	supportsAutoExposure () const override
	Returns true if auto exposure is supported.

bool	setAutoExposureEnabled (bool enable) override
	Enables or disables auto exposure.

bool	isAutoExposureEnabled () const override
	Returns true if auto exposure is enabled.

bool	supportsIRAutoExposure () const
	Returns true if IR auto exposure is supported.

bool	setIRAutoExposureEnabled (bool enable)
	Enables or disables IR auto exposure.

bool	isIRAutoExposureEnabled () const
	Returns true if IR auto exposure is enabled.

bool	isGainSupported () const override
	Returns true if gain is supported.

bool	setGain (int value) override
	Sets the gain value.

int	gain () const override
	Returns the current gain value.

std::pair< int, int >	gainRange () const
	Returns the supported gain range.

bool	isExposureSupported () const override
	Returns true if exposure is supported.

bool	setExposure (int value) override
	Sets the exposure value.

int	exposure () const override
	Returns the current exposure value.

std::pair< int, int >	exposureRange () const
	Returns the supported exposure range.

bool	isIrExposureSupported () const
	Returns true if IR exposure is supported.

bool	setIrExposure (int value)
	Sets the IR exposure value.

int	irExposure () const
	Returns the current IR exposure value.

std::pair< int, int >	irExposureRange () const
	Returns the supported IR exposure range.

bool	isIrGainSupported () const
	Returns true if IR gain is supported.

bool	setIrGain (int value)
	Sets the IR gain value.

int	irGain () const
	Returns the current IR gain value.

std::pair< int, int >	irGainRange () const
	Returns the supported IR gain range.

bool	usingFactoryCalibration () const override
	Returns true if factory calibration is used.

bool	depthK (mat3 &K) const override
	Returns the depth camera intrinsic matrix.

bool	depthDist (Eigen::Matrix< double, 5, 1 > &dist) const override
	Returns the depth camera distortion coefficients.

bool	dropCorruptDepthData (bool &drop) const
	Returns whether corrupt depth data is dropped.

bool	corruptDepthRange (vec2 &range) const
	Returns the range for corrupt depth data.

bool	colorK (mat3 &K) const override
	Returns the color camera intrinsic matrix.

bool	colorDist (Eigen::Matrix< double, 5, 1 > &dist) const override
	Returns the color camera distortion coefficients.

bool	depthToColorT (mat4 &T) const override
	Returns the transformation from depth to color camera.

bool	setDepthK (const mat3 &K) override
	Sets the depth camera intrinsic matrix.

bool	setDepthDist (const Eigen::Matrix< double, 5, 1 > &dist) override
	Sets the depth camera distortion coefficients.

bool	setDropCorruptDepthData (bool drop)
	Sets whether to drop corrupt depth data.

bool	setCorruptDepthRange (const vec2 &range)
	Sets the range for corrupt depth data.

bool	setColorK (const mat3 &K) override
	Sets the color camera intrinsic matrix.

bool	setColorDist (const Eigen::Matrix< double, 5, 1 > &dist) override
	Sets the color camera distortion coefficients.

bool	setDepthToColorT (const mat4 &T) override
	Sets the transformation from depth to color camera.

void	setEnableRadialDistortionCorrection (bool enable)
	Enables or disables radial distortion correction.

bool	enableRadialDistortionCorrection () const
	Returns true if radial distortion correction is enabled.

int	irToDepthVerticalShift () const
	Returns the vertical pixel shift between IR and depth images.

bool	loadCalibration (const Properties *p) override
	Loads calibration from a Properties object.

bool	saveCalibration (Properties *p) const override
	Saves calibration to a Properties object.

bool	overwriteFirmwareCalibration (const mat3 &depthK, const vec5 &depthDist, const mat3 &colorK, const vec5 &colorDist, const mat4 &depthToColorT)
	Overwrites the firmware calibration (Astra Mini S/Plus S only).

bool	readFirmwareCalibration (mat3 &depthK, vec5 &depthDist, mat3 &colorK, vec5 &colorDist, mat4 &depthToColorT) const
	Reads the firmware calibration (Astra Mini S/Plus S only).

int	depthImageWidth () const override
	Returns the width of the depth image.

int	depthImageHeight () const override
	Returns the height of the depth image.

int	colorImageWidth () const override
	Returns the width of the color image.

int	colorImageHeight () const override
	Returns the height of the color image.

bool	grabImage (float depthData, unsigned char colorData, int timeOut=500) override
	Grabs a synchronized depth and color image.

void	setDisparity (bool use)
	Enables or disables disparity mode.

bool	disparity () const
	Returns true if disparity mode is enabled.

bool	isIRSupported () const
	Returns true if IR is supported.

void	setIR (bool use)
	Enables or disables IR mode.

bool	IR () const
	Returns true if IR mode is enabled.

bool	isLaserStateChangeSupported ()
	Returns true if laser state change is supported.

bool	setLaserState (bool enable) override
	Enables or disables the laser.

bool	laserState () const override
	Returns true if the laser is enabled.

bool	isDepthColorSyncSupported () const
	Returns true if depth-color synchronization is supported.

void	setDepthColorSyncEnabled (bool value)
	Enables or disables depth-color synchronization.

bool	depthColorSyncEnabled () const
	Returns true if depth-color synchronization is enabled.

bool	isMaxFrameDelaySupported () const
	Returns true if maximum frame delay is supported.

void	setMaximumFrameDelay (int maxDelay)
	Sets the maximum frame delay for synchronization.

int	maximumFrameDelay () const
	Returns the maximum frame delay for synchronization.

void	configure (const Properties *p) override
	Configures the stream from a Properties object.

void	configuration (Properties *p) const override
	Writes the current configuration to a Properties object.

bool	isAstra (bool withPro=true) const
	Returns true if the device is an Astra (optionally with Pro).

bool	isAstraMini () const
	Returns true if the device is an Astra Mini.

bool	isAstraMiniRev2 () const
	Returns true if the device is an Astra Mini Rev2.

bool	isAsus () const
	Returns true if the device is an Asus sensor.

bool	hasXMLBasedCalibration () const
	Returns true if XML-based calibration is available.

bool	hasWorkspaceBasedCalibration () const
	Returns true if workspace-based calibration is available.

void	setWorkspaceBasedCalibration (bool value)
	Enables or disables workspace-based calibration.

void	setNoColor (bool noColor)
	Enables or disables color stream.

uint16_t	vid () const
	Returns the USB vendor ID.

uint16_t	pid () const
	Returns the USB product ID.

std::string	uri () const
	Returns the device URI.

bool	isDepthWorkModeSupported () const
	Returns true if depth work mode is supported.

void	setDepthWorkMode (const std::string &value)
	Sets the depth work mode.

std::string	depthWorkMode () const
	Returns the current depth work mode.

std::vector< std::string >	depthWorkModes () const
	Returns the list of supported depth work modes.

bool	distortionLayoutChangeSupported () const
	Returns true if distortion layout change is supported.

bool	setDistortionParamLayout (DistParamLayout layout)
	Sets the distortion parameter layout.

DistParamLayout	distortionParamLayout () const
	Returns the current distortion parameter layout.

SensorType	sensorType () const
	Returns the sensor type.

Public Member Functions inherited from RGBDStream
virtual bool	grabSingleFrame ()
	Grabs a single RGBD frame.

virtual bool	isOpen () const

virtual std::string	firmwareVersion () const

	RGBDStream (const std::string &name="")

virtual bool	supportsSingleFrameGrab () const
	Returns if the stream supports single frame capture model; set false by default.

virtual bool	startOnImport () const
	Returns if the stream shall be started on import; set true by default.

virtual bool	selectDefaultFrameFormat ()

virtual bool	createDefaultStreamController () override final
	Indicates whether a StreamController should be created for the stream.

std::unique_ptr< RGBDDataComponent >	getRGBDDataComponentCopy ()
	Returns the copy of the RGBDDataComponent. If it wasn't present before, it is added and updated.

Public Member Functions inherited from ImageStream
	ImageStream (const std::string &name="")

Data::Kind	kind () const override final
	Returns the kind (typically IMAGESTREAM or VOLUMESTREAM)

void	setModality (Modality m)
	Set the modality descriptor of this stream.

Modality	modality () const override final
	Return the modality of this stream.

virtual bool	topDown () const
	Specify whether the first line of the image data is to be displayed on top.

int	size () const override
	Returns the number of images of the image stream per emission.

std::string	describe () const override
	Short description of the stream including latest state and update rate information.

Public Member Functions inherited from Stream
	Stream (const std::string &name="")
	Constructor with the `name` for this stream.

virtual ThreadingMode	threadingMode () const
	Configures threading mode of stream.

virtual bool	supportsAsyncOperation ()
	Returns true if xxxAsync() methods support execution in a background thread.

std::shared_future< bool >	openAsync ()
	Open stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful.

std::shared_future< bool >	closeAsync ()
	Close stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful.

std::shared_future< bool >	startAsync ()
	Start stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful.

std::shared_future< bool >	stopAsync ()
	Stop stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful.

std::shared_future< bool >	pauseAsync ()
	Pause stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful.

std::shared_future< bool >	resumeAsync ()
	Resume stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful.

bool	open ()
	Open stream and wait for the operation to complete. Returns whether the operation was successful.

bool	close ()
	Close stream and wait for the operation to complete. Returns whether the operation was successful.

bool	start ()
	Start stream and wait for the operation to complete. Returns whether the operation was successful.

bool	stop ()
	Stop stream and wait for the operation to complete. Returns whether the operation was successful.

bool	pause ()
	Pause stream and wait for the operation to complete. Returns whether the operation was successful.

bool	resume ()
	Resume stream and wait for the operation to complete. Returns whether the operation was successful.

virtual bool	supportsPausing () const
	Override and return true if this stream implements the pausing and resume operations.

bool	restart ()
	Stops, closes, opens and starts the stream. Returns whether the operation was successful.

virtual bool	reset ()
	Reverts stream to first frame, if possible. Returns whether the operation was successful.

virtual bool	isRunning () const
	Return whether stream is currently running.

State	currentState () const

bool	isStateOneOf (const std::vector< State > &states) const

Geometry::AlignedBox	bounds () const override
	Per default a Stream has empty/invalid bounds.

Pose::TransformationConvention	matrixConvention () const override
	Matrices of streams by default map to the world coordinate system.

double	updateRate () const
	Average update rate in Hz of the `signalStreamData`.

std::string	describe () const override
	Short description of the stream including latest state and update rate information.

Public Member Functions inherited from Data
	Data (const std::string &name="")

	Data (const Data &other)

Data &	operator= (const Data &other)

virtual	~Data ()
	Mandatory virtual destructor.

const std::string &	name () const
	Return the name of this data.

void	setName (const std::string &name)
	Sets the name of this data.

virtual bool	isAnnotationType () const
	Return whether this data type is visualized through an annotation (e.g. mesh)

const DataComponentList &	components () const
	Returns the list of DataComponents for this data.

DataComponentList &	components ()

virtual void	setMatrixFromWorld (const mat4 &m)
	Set matrix mapping from the world coordinate system to the data coordinate system.

virtual void	setMatrixToWorld (const mat4 &m)
	Set matrix mapping from the data coordinate system to the world coordinate system.

virtual mat4	matrixFromWorld () const
	Get matrix mapping from the world coordinate system to the data coordinate system.

virtual mat4	matrixToWorld () const
	Get matrix mapping from the data coordinate system to the world coordinate system.

virtual mat4	matrix () const
	Return the transformation matrix.

virtual void	setMatrix (const mat4 &m)
	Set the transformation matrix.

Public Member Functions inherited from Configurable
virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.

void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().

void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.

	Configurable (const Configurable &rhs)

	Configurable (Configurable &&rhs) noexcept

Configurable &	operator= (const Configurable &)

Configurable &	operator= (Configurable &&) noexcept

Public Member Functions inherited from Selectable
	Selectable (const Selectable &)

	Selectable (Selectable &&)

Selectable &	operator= (const Selectable &)

Selectable &	operator= (Selectable &&)

virtual Selection	selection () const

virtual int	focus () const

virtual void	setSelection (const Selection &sel)
	Set the underlying selection.

virtual void	setFocus (int index)
	Set focus of the selection.

Static Public Member Functions
static std::vector< OpenNI2RGBDStream * >	enumerateStreams ()
	Enumerates available OpenNI2 RGB-D streams (deprecated, use enumerate()).

static std::vector< std::unique_ptr< OpenNI2RGBDStream > >	enumerate ()
	Enumerates available OpenNI2 RGB-D streams and returns them as unique pointers.

Static Public Member Functions inherited from Stream
static std::string	stateToString (State state)

Static Public Member Functions inherited from Data
static std::string	modalityString (Data::Modality m)
	Return the name of an image modality.

static Data::Modality	stringToModality (const std::string &s)
	Returns the modality corresponding to a modality string or NA if nothing matches.

Protected Member Functions
bool	openImpl () override
	Open stream.

bool	closeImpl () override
	Close stream.

bool	startImpl () override
	Start stream.

bool	stopImpl () override
	Stop stream.

std::optional< WorkContinuation >	doWork () override
	Create one StreamData and publish it (this function will be called at the desired frame rate) If this is not desired, you can do the following: return std::nullopt;.

bool	defaultColorResolution (int &width, int &height) override
	Returns default color resolution.

bool	defaultDepthResolution (int &width, int &height) override
	Returns default depth resolution.

void	retrieveOpenNICalibration (mat3 &depthK, mat3 &colorK)

bool	readAstraCalib (mat3 &depthK, mat3 &colorK, vec5 &depthDist, vec5 &colorDist, mat4 &depthToColorT, std::string &hash, DistParamLayout &layout) const

std::string	firmwareSerial () const

void	computeCalibration ()

void	initDepthUndistortionMap ()

void	initColorUndistortionMap ()

void	initIRUndistortionMap ()

void	preprocessDepthImage (TypedImage< float > *imgDepth)

void	preprocessColorImage (TypedImage< unsigned char > *imgColor)

template<typename T>
void	undistortBrown (TypedImage< T > imgIn, TypedImage< T > imgOut, const mat3 &K, const Eigen::Matrix< double, 5, 1 > &dist)

Protected Member Functions inherited from RGBDStream
virtual void	onRGBDDataComponentChanged ()
	Called when the RGBDDataComponent changes.

Protected Member Functions inherited from ImageStream
void	setKind (Kind k)
	Sets the kind (typically IMAGESTREAM or VOLUMESTREAM) and emits signalKindChanged.

bool	workerThreadRequiresOpenGl () const override
	Ensure the thread has an GL context before the main loop starts.

Protected Member Functions inherited from Stream
virtual bool	pauseImpl ()
	Pause stream (not required to be supported).

virtual bool	resumeImpl ()
	Resume stream from pause (only required to be supported when pauseImpl() is supported).

virtual bool	worksWhilePaused () const
	Override if doWork() should be called also in the Paused state.

void	changeState (State newState)

std::shared_future< bool >	attemptStateChange (std::function< bool()> work, State stateWorking, State stateSuccess, State stateError)

Protected Member Functions inherited from Data
void	swapWith (Data &other)
	Swaps the data and emits a matrix and name changed signal for both.

Additional Inherited Members
Public Attributes inherited from ImageStream
Signal< Data::Kind >	signalKindChanged
	Is emitted when the stream changes between IMAGESTREAM and VOLUMESTREAM, before the next ImageStreamData is emitted.

Public Attributes inherited from Stream
ProtectedSignal< StateChange >	signalStateChanged
	Emitted after a state change has been completed with the old and new state.

ProtectedSignal	signalEnded
	Indicates that the stream reached the end of its data, e.g. when a video stream has played to the end.

ProtectedSignal< std::shared_ptr< const StreamData > >	signalStreamData
	Signal that is emitted by the stream when a new StreamData is available.

DeprecatedSignal< ProtectedSignal< std::shared_ptr< const StreamData > >, const StreamData & >	signalNewData
	Signal that is emitted by the stream when a new StreamData is available.

Public Attributes inherited from Data
Signal< const Data * >	signalDeleted
	Signal emitted when this instance is deleted.

Signal< const Data * >	signalMatrixChanged
	Signal emitted when the transformation of this Data has changed.

Signal< std::string >	signalNameChanged
	Signal emitted when the name changed.

Public Attributes inherited from Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' `signalValueChanged` signal was emitted.

Public Attributes inherited from Selectable
ProtectedSignal	signalSelectionChanged
	Signals that the selection or size might have changed.

Protected Attributes inherited from Data
mat4	m_matrix
	Transformation matrix.

std::recursive_mutex *	m_matrixMutex
	Used to internally synchronize access to the matrix of data.

DataComponentList	m_dataComponentList
	The list of DataComponents for this data.

Protected Attributes inherited from Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Protected Attributes inherited from Selectable
std::mutex	m_selectionMutex
	Mutex protecting the selection.

Selection	m_sel

Member Function Documentation

◆ enumerateStreams()

static std::vector< OpenNI2RGBDStream * > enumerateStreams ( )

static

Enumerates available OpenNI2 RGB-D streams (deprecated, use enumerate()).

Deprecated: "Use enumerate() instead, which makes ownership explicit"

◆ depthFormats()

bool depthFormats ( std::vector< FrameInfo > & formats )

overridevirtual

Returns supported depth formats for the device.

Reimplemented from RGBDStream.

◆ colorFormats()

bool colorFormats ( std::vector< FrameInfo > & formats )

overridevirtual

Returns supported color formats for the device.

Reimplemented from RGBDStream.

◆ depthFormat()

bool depthFormat ( FrameInfo & format ) const

overridevirtual

Returns the current depth format.

Reimplemented from RGBDStream.

◆ colorFormat()

bool colorFormat ( FrameInfo & format ) const

overridevirtual

Returns the current color format.

Reimplemented from RGBDStream.

◆ setDepthFormat()

bool setDepthFormat ( const FrameInfo & format )

overridevirtual

Sets the depth format.

Reimplemented from RGBDStream.

◆ setColorFormat()

bool setColorFormat ( const FrameInfo & format )

overridevirtual

Sets the color format.

Reimplemented from RGBDStream.

◆ supportsColor()

bool supportsColor ( ) const

overridevirtual

Returns true if the device supports color images.

Implements RGBDStream.

◆ name()

std::string name ( ) const

overridevirtual

Returns the device name.

Reimplemented from RGBDStream.

◆ uuid()

std::string uuid ( )

overridevirtual

Returns the device UUID.

Implements Stream.

◆ serialNumber()

std::string serialNumber ( ) const

overridevirtual

Returns the device serial number.

Reimplemented from RGBDStream.

◆ supportsAutoWhiteBalance()

bool supportsAutoWhiteBalance ( ) const

overridevirtual

Returns true if auto white balance is supported.

Reimplemented from RGBDStream.

◆ setAutoWhiteBalanceEnabled()

bool setAutoWhiteBalanceEnabled ( bool enable )

overridevirtual

Enables or disables auto white balance.

Reimplemented from RGBDStream.

◆ isAutoWhiteBalanceEnabled()

bool isAutoWhiteBalanceEnabled ( ) const

overridevirtual

Returns true if auto white balance is enabled.

Reimplemented from RGBDStream.

◆ supportsAutoExposure()

bool supportsAutoExposure ( ) const

overridevirtual

Returns true if auto exposure is supported.

Reimplemented from RGBDStream.

◆ setAutoExposureEnabled()

bool setAutoExposureEnabled ( bool enable )

overridevirtual

Enables or disables auto exposure.

Reimplemented from RGBDStream.

◆ isAutoExposureEnabled()

bool isAutoExposureEnabled ( ) const

overridevirtual

Returns true if auto exposure is enabled.

Reimplemented from RGBDStream.

◆ isGainSupported()

bool isGainSupported ( ) const

overridevirtual

Returns true if gain is supported.

Reimplemented from RGBDStream.

◆ setGain()

bool setGain ( int value )

overridevirtual

Sets the gain value.

Reimplemented from RGBDStream.

◆ gain()

int gain ( ) const

overridevirtual

Returns the current gain value.

Reimplemented from RGBDStream.

◆ isExposureSupported()

bool isExposureSupported ( ) const

overridevirtual

Returns true if exposure is supported.

Reimplemented from RGBDStream.

◆ setExposure()

bool setExposure ( int value )

overridevirtual

Sets the exposure value.

Reimplemented from RGBDStream.

◆ exposure()

int exposure ( ) const

overridevirtual

Returns the current exposure value.

Reimplemented from RGBDStream.

◆ usingFactoryCalibration()

bool usingFactoryCalibration ( ) const

overridevirtual

Returns true if factory calibration is used.

Reimplemented from RGBDStream.

◆ depthK()

bool depthK ( mat3 & K ) const

overridevirtual

Returns the depth camera intrinsic matrix.

Reimplemented from RGBDStream.

◆ depthDist()

bool depthDist ( Eigen::Matrix< double, 5, 1 > & dist ) const

overridevirtual

Returns the depth camera distortion coefficients.

Reimplemented from RGBDStream.

◆ dropCorruptDepthData()

bool dropCorruptDepthData ( bool & drop ) const

virtual

Returns whether corrupt depth data is dropped.

Reimplemented from RGBDStream.

◆ colorK()

bool colorK ( mat3 & K ) const

overridevirtual

Returns the color camera intrinsic matrix.

Reimplemented from RGBDStream.

◆ colorDist()

bool colorDist ( Eigen::Matrix< double, 5, 1 > & dist ) const

overridevirtual

Returns the color camera distortion coefficients.

Reimplemented from RGBDStream.

◆ depthToColorT()

bool depthToColorT ( mat4 & T ) const

overridevirtual

Returns the transformation from depth to color camera.

Reimplemented from RGBDStream.

◆ setDepthK()

bool setDepthK ( const mat3 & K )

overridevirtual

Sets the depth camera intrinsic matrix.

Reimplemented from RGBDStream.

◆ setDepthDist()

bool setDepthDist ( const Eigen::Matrix< double, 5, 1 > & dist )

overridevirtual

Sets the depth camera distortion coefficients.

Reimplemented from RGBDStream.

◆ setDropCorruptDepthData()

bool setDropCorruptDepthData ( bool drop )

virtual

Sets whether to drop corrupt depth data.

Reimplemented from RGBDStream.

◆ setColorK()

bool setColorK ( const mat3 & K )

overridevirtual

Sets the color camera intrinsic matrix.

Reimplemented from RGBDStream.

◆ setColorDist()

bool setColorDist ( const Eigen::Matrix< double, 5, 1 > & dist )

overridevirtual

Sets the color camera distortion coefficients.

Reimplemented from RGBDStream.

◆ setDepthToColorT()

bool setDepthToColorT ( const mat4 & T )

overridevirtual

Sets the transformation from depth to color camera.

Reimplemented from RGBDStream.

◆ loadCalibration()

bool loadCalibration ( const Properties * p )

overridevirtual

Loads calibration from a Properties object.

Reimplemented from RGBDStream.

◆ saveCalibration()

bool saveCalibration ( Properties * p ) const

overridevirtual

Saves calibration to a Properties object.

Reimplemented from RGBDStream.

◆ depthImageWidth()

int depthImageWidth ( ) const

overridevirtual

Returns the width of the depth image.

Implements RGBDStream.

◆ depthImageHeight()

int depthImageHeight ( ) const

overridevirtual

Returns the height of the depth image.

Implements RGBDStream.

◆ colorImageWidth()

int colorImageWidth ( ) const

overridevirtual

Returns the width of the color image.

Implements RGBDStream.

◆ colorImageHeight()

int colorImageHeight ( ) const

overridevirtual

Returns the height of the color image.

Implements RGBDStream.

◆ grabImage()

bool grabImage	(	float *	depthData,
		unsigned char *	colorData,
		int	timeOut = 500 )

overridevirtual

Grabs a synchronized depth and color image.

Reimplemented from RGBDStream.

◆ setLaserState()

bool setLaserState ( bool enable )

overridevirtual

Enables or disables the laser.

Reimplemented from RGBDStream.

◆ laserState()

bool laserState ( ) const

overridevirtual

Returns true if the laser is enabled.

Reimplemented from RGBDStream.

◆ configure()

void configure ( const Properties * p )

overridevirtual

Configures the stream from a Properties object.

Reimplemented from Configurable.

◆ configuration()

void configuration ( Properties * p ) const

overridevirtual

Writes the current configuration to a Properties object.

Reimplemented from Configurable.

◆ openImpl()

bool openImpl ( )

overrideprotectedvirtual

Open stream.

Returns whether the operation was successful. This method is responsible for allocating necessary resources, initializing device handles, and establishing connections to devices. Implementers should ensure that all one-time setup tasks are completed here.

Implements Stream.

◆ closeImpl()

bool closeImpl ( )

overrideprotectedvirtual

Close stream.

Returns whether the operation was successful. This method should be used to free any resources that were allocated during the openImpl() call and to disconnect from any devices. Implementers must ensure that all resources are properly released to avoid memory leaks.

Implements Stream.

◆ startImpl()

bool startImpl ( )

overrideprotectedvirtual

Start stream.

Returns whether the operation was successful. This method is intended to initiate the actual data readout process or to connect a callback function for data handling. Implementers should ensure that the stream is ready and producing data after this call.

Implements Stream.

◆ stopImpl()

bool stopImpl ( )

overrideprotectedvirtual

Stop stream.

Returns whether the operation was successful. This method should halt any ongoing data readouts or callbacks, effectively pausing the data flow to reduce CPU load. Implementers should ensure that the stream can be restarted after this call.

Implements Stream.

◆ doWork()

std::optional< WorkContinuation > doWork ( )

overrideprotectedvirtual

Create one StreamData and publish it (this function will be called at the desired frame rate) If this is not desired, you can do the following: return std::nullopt;.

Implements Stream.

◆ defaultColorResolution()

bool defaultColorResolution	(	int &	width,
		int &	height )

overrideprotectedvirtual

Returns default color resolution.

Reimplemented from RGBDStream.

◆ defaultDepthResolution()

bool defaultDepthResolution	(	int &	width,
		int &	height )

overrideprotectedvirtual

Returns default depth resolution.

Reimplemented from RGBDStream.

The documentation for this class was generated from the following file:

RGBD/Include/ImFusion/RGBD/OpenNI2RGBDStream.h

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Function Documentation

◆ enumerateStreams()

◆ depthFormats()

◆ colorFormats()

◆ depthFormat()

◆ colorFormat()

◆ setDepthFormat()

◆ setColorFormat()

◆ supportsColor()

◆ name()

◆ uuid()

◆ serialNumber()

◆ supportsAutoWhiteBalance()

◆ setAutoWhiteBalanceEnabled()

◆ isAutoWhiteBalanceEnabled()

◆ supportsAutoExposure()

◆ setAutoExposureEnabled()

◆ isAutoExposureEnabled()

◆ isGainSupported()

◆ setGain()

◆ gain()

◆ isExposureSupported()

◆ setExposure()

◆ exposure()

◆ usingFactoryCalibration()

◆ depthK()

◆ depthDist()

◆ dropCorruptDepthData()

◆ colorK()

◆ colorDist()

◆ depthToColorT()

◆ setDepthK()

◆ setDepthDist()

◆ setDropCorruptDepthData()

◆ setColorK()

◆ setColorDist()

◆ setDepthToColorT()

◆ loadCalibration()

◆ saveCalibration()

◆ depthImageWidth()

◆ depthImageHeight()

◆ colorImageWidth()

◆ colorImageHeight()

◆ grabImage()

◆ setLaserState()

◆ laserState()

◆ configure()

◆ configuration()

◆ openImpl()

◆ closeImpl()

◆ startImpl()

◆ stopImpl()

◆ doWork()

◆ defaultColorResolution()

◆ defaultDepthResolution()