Special Grabber implementation for Microsoft's Kinect Device. More...

#include <KinectGrabber.h>

Inheritance diagram for icl::io::KinectGrabber:

Public Types
enum	Mode { GRAB_RGB_IMAGE, GRAB_BAYER_IMAGE, GRAB_DEPTH_IMAGE, GRAB_IR_IMAGE_8BIT, GRAB_IR_IMAGE_10BIT }

Public Types inherited from icl::io::Grabber
typedef utils::Function< void, const core::ImgBase * >	callback
	new image callback type More...

Public Types inherited from icl::utils::Configurable
typedef Function< void, const Property & >	Callback
	Function type for changed properties. More...

Public Member Functions
ICLIO_API	KinectGrabber (Mode mode=GRAB_DEPTH_IMAGE, int deviceID=0, const utils::Size &size=utils::Size::VGA)

ICLIO_API	KinectGrabber (Mode mode, const std::string &deviceIDOrSerial, const utils::Size &size=utils::Size::VGA)

ICLIO_API	~KinectGrabber ()
	Destructor. More...

virtual ICLIO_API const core::ImgBase *	acquireImage ()
	grabs a new image More...

ICLIO_API void	processPropertyChange (const utils::Configurable::Property &prop)
	callback for changed configurable properties More...

Public Member Functions inherited from icl::io::Grabber
	Grabber ()

virtual	~Grabber ()
	Destructor. More...

const core::ImgBase *	grab (core::ImgBase **dst=0)
	grab function calls the Grabber-specific acquireImage-method and applies distortion if necessary More...

template<class T >
bool	desiredUsed () const
	returns whether the desired parameter for the given type is used More...

template<class T >
void	useDesired (const T &t)
	sets desired parameters (only available for core::depth,utils::Size and core::format) More...

void	useDesired (core::depth d, const utils::Size &size, core::format fmt)
	sets up the grabber to use all given desired parameters More...

template<class T >
void	ignoreDesired ()
	set the grabber to ignore the desired param of type T More...

void	ignoreDesired ()
	sets up the grabber to ignore all desired parameters More...

template<class T >
T	getDesired () const
	returns the desired value for the given type T More...

virtual void	registerCallback (callback cb)
	registers a callback that is called each time, a new image is available More...

virtual void	removeAllCallbacks ()
	removes all registered image callbacks More...

virtual void	notifyNewImageAvailable (const core::ImgBase *image)
	this function can be implemented by subclasses in order to notify, that a new image is available More...

void	enableUndistortion (const std::string &filename)
	enables the undistorion More...

void	enableUndistortion (const ImageUndistortion &udist)
	enables the undistortion plugin for the grabber using radial and tangential distortion parameters More...

void	enableUndistortion (const utils::ProgArg &pa)
	enables undistortion from given programm argument. More...

void	enableUndistortion (const core::Img32f &warpMap)
	enables undistortion for given warp map More...

void	setUndistortionInterpolationMode (core::scalemode mode)
	sets how undistortion is interpolated (supported modes are interpolateNN and interpolateLIN) More...

void	disableUndistortion ()
	disables distortion More...

bool	isUndistortionEnabled () const
	returns whether distortion is currently enabled More...

const core::Img32f *	getUndistortionWarpMap () const
	returns the internal warp map or NULL if undistortion is not enabled More...

Public Member Functions inherited from icl::utils::Configurable
virtual	~Configurable ()
	virtual destructor More...

	Configurable (const Configurable &other)
	Copy constructor. More...

Configurable &	operator= (const Configurable &other)
	Assignment operator. More...

void	setConfigurableID (const std::string &ID)
	sets the ID of this configurable More...

const std::string &	getConfigurableID () const
	returns the configurables static ID More...

bool	isOrderedFlagSet () const
	returns whether the ordered flag is set More...

void	deactivateProperty (const std::string &pattern)
	adds an additional deativation pattern More...

void	deleteDeactivationPattern (const std::string &pattern)
	removed a formerly added deactivation pattern More...

std::vector< std::string >	getPropertyListWithoutDeactivated () const
	this returns a filtered list of properties (using all filters added by deactivateProperty) More...

virtual void	adaptProperty (const std::string &name, const std::string &newType, const std::string &newInfo, const std::string &newToolTip)
	this function can be used to adapt a specific property afterwards More...

void	registerCallback (const Callback &cb)
	add a callback for changed properties More...

void	removedCallback (const Callback &cb)
	removes a callback that was registered before More...

void	syncChangesTo (Configurable *others, int num=1)
	this can be used to let this instance also apply property changes to others More...

virtual void	setPropertyValue (const std::string &propertyName, const Any &value)
	sets a property value More...

virtual std::vector< std::string >	getPropertyList () const
	returns a list of All properties, that can be set using setProperty More...

virtual bool	supportsProperty (const std::string &propertyName) const
	base implementation for property check (seaches in the property list) More...

virtual void	saveProperties (const std::string &filename, const std::vector< std::string > &propertiesToSkip=EMPTY_VEC) const
	writes all available properties into a file More...

virtual void	loadProperties (const std::string &filename, const std::vector< std::string > &propertiesToSkip=EMPTY_VEC)
	reads a camera config file from disc More...

virtual std::string	getPropertyType (const std::string &propertyName) const
	get type of property More...

virtual std::string	getPropertyInfo (const std::string &propertyName) const
	get information of a properties valid values More...

virtual Any	getPropertyValue (const std::string &propertyName) const
	returns the current value of a property or a parameter More...

virtual std::string	getPropertyToolTip (const std::string &propertyName) const
	returns the tooltip description for a given property More...

virtual int	getPropertyVolatileness (const std::string &propertyName) const
	Returns whether this property may be changed internally. More...

Static Public Member Functions
static ICLIO_API const std::vector< GrabberDeviceDescription > &	getDeviceList (bool rescan)
	returns a list of attached kinect devices More...

Static Public Member Functions inherited from icl::io::Grabber
static std::string	translateSteppingRange (const utils::SteppingRange< double > &range)
	translates a SteppingRange into a string representation More...

static utils::SteppingRange< double >	translateSteppingRange (const std::string &rangeStr)
	creates a SteppingRange out of a string representation More...

static std::string	translateDoubleVec (const std::vector< double > &doubleVec)
	translates a vector of doubles into a string representation More...

static std::vector< double >	translateDoubleVec (const std::string &doubleVecStr)
	creates a vector of doubles out of a string representation More...

static std::string	translateStringVec (const std::vector< std::string > &stringVec)
	translates a vector of strings into a single string representation More...

static std::vector< std::string >	translateStringVec (const std::string &stringVecStr)
	creates a vector of strins out of a single string representation More...

Static Public Member Functions inherited from icl::utils::Configurable
static std::string	create_default_ID (const std::string &prefix)
	this function can be used in subclasses to create a default ID More...

static Configurable *	get (const std::string &id)
	returns configurable by given ID More...

static void	register_configurable_type (const std::string &classname, Function< Configurable * > creator)
	registers a configurable type More...

static std::vector< std::string >	get_registered_configurables ()
	returns a list of all registered configurable classnames More...

static Configurable *	create_configurable (const std::string &classname)
	creates a configurable by given name More...

Protected Attributes
Impl *	m_impl
	internal hidden implementation class More...

Protected Attributes inherited from icl::utils::Configurable
std::vector< Callback >	callbacks
	internally managed list of callbacks More...

Private Member Functions
ICLIO_API void	init (Mode mode, const std::string &deviceIDOrSerial, const utils::Size &size)

void	updateState ()

Additional Inherited Members
Static Public Attributes inherited from icl::utils::Configurable
static const std::vector< std::string >	EMPTY_VEC
	used as shortcut – just an empty vector of std::strings More...

Protected Member Functions inherited from icl::io::Grabber
virtual void	setDesiredFormatInternal (core::format fmt)
	internally set a desired format More...

virtual void	setDesiredSizeInternal (const utils::Size &size)
	internally set a desired format More...

virtual void	setDesiredDepthInternal (core::depth d)
	internally set a desired format More...

virtual core::format	getDesiredFormatInternal () const
	returns the desired format More...

virtual core::depth	getDesiredDepthInternal () const
	returns the desired format More...

virtual utils::Size	getDesiredSizeInternal () const
	returns the desired format More...

const core::ImgBase *	adaptGrabResult (const core::ImgBase src, core::ImgBase *dst)
	Utility function that allows for much easier implementation of grabUD. More...

Protected Member Functions inherited from icl::utils::Uncopyable
	Uncopyable ()
	Empty base constructor. More...

Protected Member Functions inherited from icl::utils::Configurable
void	addProperty (const std::string &name, const std::string &type, const std::string &info, const Any &value=Any(), const int volatileness=0, const std::string &tooltip=std::string())
	This can be used by derived classes to store supported properties in the internal list. More...

void	addChildConfigurable (Configurable *configurable, const std::string &childPrefix="")
	This adds another configurable as child. More...

void	removeChildConfigurable (Configurable *configurable)
	removes the given child configurable More...

Property &	prop (const std::string &propertyName)
	this CAN be used e.g. to store a property value in internal property-list More...

const Property &	prop (const std::string &propertyName) const
	this CAN be used e.g. to store a property value in internal property-list More...

	Configurable (const std::string &ID="", bool ordered=true)
	create this configurable with given ID More...

void	call_callbacks (const std::string &propertyName, const Configurable *caller) const
	calls all registered callbacks More...

Detailed Description

Special Grabber implementation for Microsoft's Kinect Device.

This class implements ICL's Grabber interface for Microsofts Kinect Device. Internally, it uses libfreenect to access the device.

Member Enumeration Documentation

◆ Mode

enum icl::io::KinectGrabber::Mode

Enumerator
GRAB_RGB_IMAGE	grabs rgb images form the kinects rgb camera
GRAB_BAYER_IMAGE	not supported yet
GRAB_DEPTH_IMAGE	grabs the core::depth image from kinect
GRAB_IR_IMAGE_8BIT	grabs the kinects IR-image in most common 8Bit depth
GRAB_IR_IMAGE_10BIT	grabs the kinects IR-image in 10Bit core::depth (use depth16s at least)

Constructor & Destructor Documentation

◆ KinectGrabber() [1/2]

ICLIO_API icl::io::KinectGrabber::KinectGrabber	(	Mode	mode = `GRAB_DEPTH_IMAGE`,
		int	deviceID = `0`,
		const utils::Size &	size = `utils::Size::VGA`
	)

◆ KinectGrabber() [2/2]

ICLIO_API icl::io::KinectGrabber::KinectGrabber	(	Mode	mode,
		const std::string &	deviceIDOrSerial,
		const utils::Size &	size = `utils::Size::VGA`
	)

◆ ~KinectGrabber()

ICLIO_API icl::io::KinectGrabber::~KinectGrabber ( )

Destructor.

Member Function Documentation

◆ acquireImage()

virtual ICLIO_API const core::ImgBase* icl::io::KinectGrabber::acquireImage ( )

virtual

grabs a new image

Reimplemented from icl::io::Grabber.

◆ getDeviceList()

static ICLIO_API const std::vector<GrabberDeviceDescription>& icl::io::KinectGrabber::getDeviceList ( bool rescan )

static

returns a list of attached kinect devices

◆ init()

ICLIO_API void icl::io::KinectGrabber::init	(	Mode	mode,
		const std::string &	deviceIDOrSerial,
		const utils::Size &	size
	)

private

◆ processPropertyChange()

ICLIO_API void icl::io::KinectGrabber::processPropertyChange ( const utils::Configurable::Property & prop )

callback for changed configurable properties

◆ updateState()

void icl::io::KinectGrabber::updateState ( )

private

Member Data Documentation

◆ m_impl

Impl* icl::io::KinectGrabber::m_impl

protected

internal hidden implementation class

hidden internal data

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

/Users/alneuman/vm/icl/ICLIO/src/ICLIO/KinectGrabber.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members