Exemple #1
0
std::string oni2DevInfoStr(const openni::DeviceInfo& info, int tab){
        std::stringstream sst;
	std::string space;
	for(int i = 0;i < tab;++i){
	  space += " ";
	}
	sst << space << "name="    << info.getName()        << std::endl;
	sst << space << "uri="     << info.getUri()         << std::endl;
	sst << space << "vendor="  << info.getVendor()      << std::endl;
	sst << space << "product=" << info.getUsbProductId();
	return sst.str();
}
  CameraImpl(ros::NodeHandle& nh, ros::NodeHandle& nh_private, const openni::DeviceInfo& device_info) :
    rgb_sensor_(new SensorStreamManagerBase()),
    depth_sensor_(new SensorStreamManagerBase()),
    ir_sensor_(new SensorStreamManagerBase()),
    reconfigure_server_(nh_private)
  {
    device_.open(device_info.getUri());

    printDeviceInfo();
    printVideoModes();
    buildResolutionMap();

    device_.setDepthColorSyncEnabled(true);

    std::string rgb_frame_id, depth_frame_id;
    nh_private.param(std::string("rgb_frame_id"), rgb_frame_id, std::string("camera_rgb_optical_frame"));
    nh_private.param(std::string("depth_frame_id"), depth_frame_id, std::string("camera_depth_optical_frame"));

    if(device_.hasSensor(SENSOR_COLOR))
    {
      rgb_sensor_.reset(new SensorStreamManager(nh, device_, SENSOR_COLOR, "rgb", rgb_frame_id, resolutions_[Camera_RGB_640x480_30Hz]));
    }

    if(device_.hasSensor(SENSOR_DEPTH))
    {
      depth_sensor_.reset(new DepthSensorStreamManager(nh, device_, rgb_frame_id, depth_frame_id, resolutions_[Camera_DEPTH_640x480_30Hz]));
    }

    if(device_.hasSensor(SENSOR_IR))
    {
      ir_sensor_.reset(new SensorStreamManager(nh, device_, SENSOR_IR, "ir", depth_frame_id, resolutions_[Camera_IR_640x480_30Hz]));
    }

    reconfigure_server_.setCallback(boost::bind(&CameraImpl::configure, this, _1, _2));
  }
Exemple #3
0
bool cmpONI2Device(const openni::DeviceInfo& i1, const openni::DeviceInfo& i2){
	return (strcmp(i1.getUri(), i2.getUri()) == 0);
}