SurgSim::Devices::OpenNIDevice Class Reference

A class implementing the communication with one OpenNI compatible depth camera. More...

`#include <SurgSim/Devices/OpenNI/OpenNIDevice.h>`

Inheritance diagram for SurgSim::Devices::OpenNIDevice:

## Public Member Functions

| OpenNIDevice (const std::string &name)
| Constructor. More...
| SURGSIM_CLASSNAME (SurgSim::Devices::OpenNIDevice)
virtual | ~OpenNIDevice ()
| Destructor. More...
bool | initialize () override
| Fully initialize the device. More...
bool | isInitialized () const override
Public Member Functions inherited from SurgSim::Input::CommonDevice
| CommonDevice (const std::string &name)
| Constructor. More...
| CommonDevice (const std::string &name, const DataStructures::DataGroup &inputData)
| Constructor. More...
| CommonDevice (const std::string &name, DataStructures::DataGroup &&inputData)
| Constructor. More...
virtual | ~CommonDevice ()
| Destructor. More...
std::string | getName () const override
| Return a (hopefully unique) device name. More...
std::string | getClassName () const override
| The class name for this class. More...
void | setNameForCallback (const std::string &name)
| Set the name used for calling the input consumers and output producer. More...
std::string | getNameForCallback () const
| Get the name used for calling the input consumers and output producer. More...
bool | addInputConsumer (std::shared_ptr< InputConsumerInterface > inputConsumer) override
| Adds an input consumer that will be notified when the application input state is updated. More...
bool | removeInputConsumer (std::shared_ptr< InputConsumerInterface > inputConsumer) override
| Removes an input consumer previously added via addInputConsumer. More...
void | clearInputConsumers () override
| Removes all InputConsumers. More...
bool | setOutputProducer (std::shared_ptr< OutputProducerInterface > outputProducer) override
| Sets an output producer that will be asked for application output state when the device needs it. More...
bool | removeOutputProducer (std::shared_ptr< OutputProducerInterface > outputProducer) override
| Removes an output producer previously added via setOutputProducer. More...
bool | hasOutputProducer () override
| Query if this object has output producer. More...
void | clearOutputProducer () override
| Removes any OutputProducer. More...
Public Member Functions inherited from SurgSim::Input::DeviceInterface
virtual | ~DeviceInterface ()
| Virtual destructor (empty). More...
Public Member Functions inherited from SurgSim::Framework::Accessible
| Accessible ()
| Default Constructor. More...
| ~Accessible ()
| Destructor. More...
template<class T >
T | getValue (const std::string &name) const
| Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...
boost::any | getValue (const std::string &name) const
| Retrieves the value with the name by executing the getter if it is found. More...
template<class T >
bool | getValue (const std::string &name, T *value) const
| Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...
void | setValue (const std::string &name, const boost::any &value)
| Sets a value of a property that has setter. More...
bool | isReadable (const std::string &name) const
| Check whether a property is readable. More...
bool | isWriteable (const std::string &name) const
| Check whether a property is writable. More...
void | setGetter (const std::string &name, GetterType func)
| Sets a getter for a given property. More...
void | setSetter (const std::string &name, SetterType func)
| Sets a setter for a given property. More...
void | setAccessors (const std::string &name, GetterType getter, SetterType setter)
| Sets the accessors getter and setter in one function. More...
void | removeAccessors (const std::string &name)
| Removes all the accessors (getter and setter) for a given property. More...
void | forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
| Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...
void | setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
| Sets the functions used to convert data from and to a YAML::Node. More...
void | setDecoder (const std::string &name, DecoderType decoder)
| Sets the functions used to convert data from a YAML::Node. More...
YAML::Node | encode () const
| Encode this Accessible to a YAML::Node. More...
void | decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
| Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...
template<>
boost::any | getValue (const std::string &name) const

## Private Member Functions

bool | finalize () override
| Finalize (de-initialize) the device. More...

## Private Attributes

std::shared_ptr< OpenNIScaffold > | m_scaffold

## Friends

class | OpenNIScaffold

## Additional Inherited Members

Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)> | GetterType
typedef std::function< void(boost::any)> | SetterType
typedef std::function< YAML::Node(void)> | EncoderType
typedef std::function< void(const YAML::Node *)> | DecoderType
Public Types inherited from SurgSim::Framework::FactoryBase1< DeviceInterface, std::string >
typedef ObjectFactory1< DeviceInterface, std::string > | FactoryType
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< DeviceInterface, std::string >
static FactoryType & | getFactory ()
Protected Member Functions inherited from SurgSim::Input::CommonDevice
virtual void | pushInput ()
| Push application input to consumers. More...
virtual bool | pullOutput ()
| Pull application output from a producer. More...
DataStructures::DataGroup & | getInputData ()
| Getter for the input data DataGroup. More...
const DataStructures::DataGroup & | getOutputData () const
| Getter for the output data DataGroup. More...

## Detailed Description

A class implementing the communication with one OpenNI compatible depth camera.

Application input provided by the device:

  type | name |
  --- | --- | ---
  image | "color" | Color image (RGB) of floats, each pixel value is between 0 and 1.
  image | "depth" | Depth image of floats, each pixel value is depth from the camera in meters.
  image | "depth_xyz" | Position of each pixel (x, y, z) in meters with respect to the camera.

Application output used by the device: none.

See also
  SurgSim::Devices::OpenNIScaffold

## Constructor & Destructor Documentation

## OpenNIDevice()

SurgSim::Devices::OpenNIDevice::OpenNIDevice | ( | const std::string & | name | ) |

explicit

Constructor.

Parameters

  name | A unique name for the device that will be used by the application.

## ~OpenNIDevice()

SurgSim::Devices::OpenNIDevice::~OpenNIDevice | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## finalize()

bool SurgSim::Devices::OpenNIDevice::finalize | ( |  | ) |

override private virtual

Finalize (de-initialize) the device.

Implements SurgSim::Input::DeviceInterface.

## initialize()

bool SurgSim::Devices::OpenNIDevice::initialize | ( |  | ) |

override virtual

Fully initialize the device.

When the manager object creates the device, the internal state of the device usually isn't fully initialized yet. This method performs any needed initialization.

Implements SurgSim::Input::DeviceInterface.

## isInitialized()

bool SurgSim::Devices::OpenNIDevice::isInitialized | ( |  | ) | const

override virtual

Returns
  true if the device has been initialized and has not yet been finalized.

Implements SurgSim::Input::DeviceInterface.

## SURGSIM_CLASSNAME()

SurgSim::Devices::OpenNIDevice::SURGSIM_CLASSNAME | ( | SurgSim::Devices::OpenNIDevice |  | ) |

## Friends And Related Function Documentation

## OpenNIScaffold

friend class OpenNIScaffold

friend

## Member Data Documentation

## m_scaffold

std::shared_ptr<OpenNIScaffold> SurgSim::Devices::OpenNIDevice::m_scaffold

private

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

- SurgSim/Devices/OpenNI/OpenNIDevice.h
- SurgSim/Devices/OpenNI/OpenNIDevice.cpp