9 #ifndef mrpt_COpenNI2Generic_H 10 #define mrpt_COpenNI2Generic_H 32 COpenNI2Generic(
int width,
int height,
float fps = 30.0f,
bool open_streams_now =
true);
46 bool &hardware_error ,
47 unsigned sensor_id = 0);
59 bool &hardware_error ,
60 unsigned sensor_id = 0);
70 void getNextFrameRGBD(
73 bool &hardware_error ,
74 unsigned sensor_id = 0);
82 void open(
unsigned sensor_id = 0);
88 unsigned int openDevicesBySerialNum(
const std::set<unsigned>& vSerialRequired);
94 unsigned int openDeviceBySerial(
const unsigned int SerialRequired);
96 bool getDeviceIDFromSerialNum(
const unsigned int SerialRequired,
int& sensor_id)
const;
99 bool isOpen(
const unsigned sensor_id)
const;
100 void close(
unsigned sensor_id = 0);
101 int getNumDevices()
const;
102 int getConnectedDevices();
106 void setVerbose(
bool verbose);
107 bool isVerbose()
const;
116 static std::vector<stlplus::smart_ptr<CDevice> >
vDevices;
127 void showLog(
const std::string& message)
const;
bool m_grab_image
The data that the RGBD sensors can return.
A class for storing images as grayscale or RGB bitmaps.
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor.
int m_width
The same options (width, height and fps) are set for all the sensors.
An abstract class for accessing OpenNI2 compatible sensors.
std::vector< int > vSerialNums
A vector with the serial numbers of the available devices.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
This class is a "CSerializable" wrapper for "CMatrixFloat".
Structure to hold the parameters of a pinhole camera model.
static std::vector< stlplus::smart_ptr< CDevice > > vDevices