osaOpenNI Class Reference

#include <osaOpenNI.h>

Public Types
enum	Errno { ESUCCESS, EFAILURE }

Public Member Functions
	osaOpenNI (int numUsers=0)
	Default Constructor. More...
	osaOpenNI (int numUsers, char usrPath)
	Constructor for Predefined Skeleton Calibration FIles. More...
	~osaOpenNI ()
	Default DeConstructor. More...
void	CleanupExit ()
	Clean Up and Exit. More...
void	Configure (const std::string &devname="")
	Configure. More...
void	Update (int type)
	Update All. More...
void	InitSkeletons ()
	Init skeletons. More...
osaOpenNI::Errno	GetRangeData (vctDynamicMatrix< double > &rangedata, const std::vector< vctFixedSizeVector< unsigned short, 2 > > &pixels)
	Get range data. More...
osaOpenNI::Errno	GetRangeData (vctDynamicMatrixRef< vctFloat3 > rangedata)
osaOpenNI::Errno	GetDepthImageRaw (vctDynamicMatrix< double > &depthimage)
	Get Raw Depth Image. More...
osaOpenNI::Errno	GetDepthImageRaw (vctDynamicMatrixRef< unsigned short > depthimage)
void	GetDepthImage (vctDynamicMatrix< double > &placeHolder)
	Get Depth Image. More...
osaOpenNI::Errno	GetRGBImage (vctDynamicMatrix< unsigned char > &RGBinterlaced)
	Get (interlaced) RGB image. More...
osaOpenNI::Errno	GetRGBImage (vctDynamicMatrixRef< unsigned char > RGBinterlaced)
osaOpenNI::Errno	GetRGBPlanarImage (vctDynamicNArray< unsigned char, 3 > &RGBplanar)
	Get (planar) RGB image. More...
std::vector< osaOpenNISkeleton * > &	UpdateAndGetUserSkeletons (void)
	Get Current User Skeletons. More...
void	UpdateUserSkeletons (void)
	Get Current User Skeletons. More...
std::vector< osaOpenNISkeleton * > &	GetUserSkeletons (void)
	Get Current User Skeletons. More...
osaOpenNI::Errno	Convert3DToProjectiveMask (const vctDynamicMatrix< double > &rangedata, vctDynamicMatrix< bool > &mask)
void	Convert3DToProjective (const vctFloat3 &point3d, vctFloat3 &point2d)

Friends
class	osaOpenNISkeleton

Member Enumeration Documentation

enum osaOpenNI::Errno

Enumerator
ESUCCESS
EFAILURE

Constructor & Destructor Documentation

osaOpenNI::osaOpenNI

(

int

numUsers = 0

)

Default Constructor.

osaOpenNI::osaOpenNI	(	int	numUsers,
		char	usrPath
	)

Constructor for Predefined Skeleton Calibration FIles.

osaOpenNI::~osaOpenNI

(

)

Default DeConstructor.

Member Function Documentation

void osaOpenNI::CleanupExit

(

)

Clean Up and Exit.

void osaOpenNI::Configure

(

const std::string &

devname = ""

)

Configure.

Creates all nodes, populates callback lists and establishes contexts for depth, rgbImage and users.

void osaOpenNI::Convert3DToProjective	(	const vctFloat3 &	point3d,
		vctFloat3 &	point2d
	)

osaOpenNI::Errno osaOpenNI::Convert3DToProjectiveMask	(	const vctDynamicMatrix< double > &	rangedata,
		vctDynamicMatrix< bool > &	mask
	)

void osaOpenNI::GetDepthImage

(

vctDynamicMatrix< double > &

placeHolder

)

Get Depth Image.

Query the depth generator to obtain a depth image. Resulting image as 11-bit depth. The value at each pixel represents the depth of the picture element. This method is non-const due to updating the context.

osaOpenNI::Errno osaOpenNI::GetDepthImageRaw

(

vctDynamicMatrix< double > &

depthimage

)

Get Raw Depth Image.

Query the depth generator to obtain a depth image. Resulting image as 8-bit depth. The value at each pixel represents the depth of the picture element. This method is non-const due to updating the context.

osaOpenNI::Errno osaOpenNI::GetDepthImageRaw

(

vctDynamicMatrixRef< unsigned short >

depthimage

)

osaOpenNI::Errno osaOpenNI::GetRangeData	(	vctDynamicMatrix< double > &	rangedata,
		const std::vector< vctFixedSizeVector< unsigned short, 2 > > &	pixels
	)

Get range data.

Query the depth generator to obtain a depth image and convert the image to a points cloud. If the depth image is MxN, then the point cloud is a matrix of size 3x(MxN) where each column are the X-Y-Z coordinate of a point. This method is non-const due to updating the context.

Returns

A 3x(MxN) point cloud.

osaOpenNI::Errno osaOpenNI::GetRangeData

(

vctDynamicMatrixRef< vctFloat3 >

rangedata

)

osaOpenNI::Errno osaOpenNI::GetRGBImage

(

vctDynamicMatrix< unsigned char > &

RGBinterlaced

)

Get (interlaced) RGB image.

osaOpenNI::Errno osaOpenNI::GetRGBImage

(

vctDynamicMatrixRef< unsigned char >

RGBinterlaced

)

osaOpenNI::Errno osaOpenNI::GetRGBPlanarImage

(

vctDynamicNArray< unsigned char, 3 > &

RGBplanar

)

Get (planar) RGB image.

std::vector<osaOpenNISkeleton*>& osaOpenNI::GetUserSkeletons

(

void

)

Get Current User Skeletons.

void osaOpenNI::InitSkeletons

(

)

Init skeletons.

void osaOpenNI::Update

(

int

type

)

Update All.

Calls the wait and update all method of the XN wrapper. This needs to be called each iteration.

std::vector<osaOpenNISkeleton*>& osaOpenNI::UpdateAndGetUserSkeletons

(

void

)

Get Current User Skeletons.

void osaOpenNI::UpdateUserSkeletons

(

void

)

Get Current User Skeletons.

Friends And Related Function Documentation

friend class osaOpenNISkeleton

friend

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

• /home/adeguet1/catkin_ws/src/cisst-saw/sawOpenNI/include/sawOpenNI/osaOpenNI.h