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)); }
bool cmpONI2Device(const openni::DeviceInfo& i1, const openni::DeviceInfo& i2){ return (strcmp(i1.getUri(), i2.getUri()) == 0); }