Represents the interface to the capabilities of the Nuitrack Depth Sensor module. More...

#include <DepthSensor.h>

Inherits HeaderOnlyAPI_Module.

Public Types
typedef std::shared_ptr < DepthSensor >	Ptr
	Smart pointer to access the DepthSensor instance. More...

typedef std::function< void(DepthFrame::Ptr)>	OnNewFrame
	The callback type of the new depth frame request. More...

Public Member Functions
	DepthSensor (NuitrackModule *pimpl)

const OutputMode	getOutputMode () const
	Returns output mode of depth sensor.

bool	isMirror () const
	Returns true if mirror mode is enabled, false otherwise. More...

void	setMirror (bool mirror)
	Set mirror mode state. More...

uint64_t	connectOnNewFrame (const OnNewFrame &callback)
	Add a callback for the new depth frame request. More...

void	disconnectOnNewFrame (uint64_t handler)
	Remove a callback of the new depth frame request. More...

DepthFrame::Ptr	getDepthFrame ()
	Returns smart pointer to the last available DepthFrame.

Vector3	convertProjToRealCoords (const Vector3 &p) const
	Convert projective coordinates to real world coordinates from Vector3 point. More...

virtual Vector3	convertProjToRealCoords (size_t x, size_t y, DepthFrame::DataType depth) const
	Convert projective coordinates to real world coordinates from x, y and depth map. More...

virtual Vector3	convertRealToProjCoords (const Vector3 &p) const
	Convert real world coordinates to projective coordinates from Vector3 point. More...

virtual Vector3	convertRealToProjCoords (float x, float y, float z) const
	Convert real world coordinates to projective coordinates from x, y, z. More...

bool	canUpdate () const

virtual uint64_t	getTimestamp ()
	Returns the last processed data timestamp in microseconds. More...

Static Public Member Functions
static DepthSensor::Ptr	create ()
	Create the DepthSensor module object. More...

Detailed Description

Represents the interface to the capabilities of the Nuitrack Depth Sensor module.

To enable the module, you must create an instance of this class. To create the instance, use a special named constructor DepthSensor::create. This instance is called DepthSensor module object. To receive the new depth frames, add an DepthSensor::OnNewFrame callback to the module object with DepthSensor::connectOnNewFrame method. Use DepthSensor::convertProjToRealCoords to convert coordinates from the projective system to the world and DepthSensor::convertProjToRealCoords for reverse conversion.

Member Typedef Documentation

typedef std::function<void (DepthFrame::Ptr)> tdv::nuitrack::DepthSensor::OnNewFrame

The callback type of the new depth frame request.

See Also: tdv::nuitrack::DepthFrame; connectOnNewFrame

typedef std::shared_ptr<DepthSensor> tdv::nuitrack::DepthSensor::Ptr

Smart pointer to access the DepthSensor instance.

See Also: create

Constructor & Destructor Documentation

tdv::nuitrack::DepthSensor::DepthSensor ( NuitrackModule * pimpl )

inline

Warning: For internal use only.

Member Function Documentation

uint64_t tdv::nuitrack::DepthSensor::connectOnNewFrame ( const OnNewFrame & callback )

inline

Add a callback for the new depth frame request.

Parameters

[in] callback Callback to be invoked at the new depth frame request.

Returns: Callback ID. You can use it to remove the callback.

See Also: disconnectOnNewFrame

Vector3 tdv::nuitrack::DepthSensor::convertProjToRealCoords ( const Vector3 & p ) const

inline

Convert projective coordinates to real world coordinates from Vector3 point.

Parameters

[in] p Projective point coordinates.

Returns: Converted real world point.

virtual Vector3 tdv::nuitrack::DepthSensor::convertProjToRealCoords	(	size_t	x,
		size_t	y,
		DepthFrame::DataType	depth
	)		const

inlinevirtual

Convert projective coordinates to real world coordinates from x, y and depth map.

Parameters

[in]	x,y	Projective point coordinates.
[in]	depth	Depth map.

Returns: Converted real world point.

virtual Vector3 tdv::nuitrack::DepthSensor::convertRealToProjCoords ( const Vector3 & p ) const

inlinevirtual

Convert real world coordinates to projective coordinates from Vector3 point.

Parameters

[in] p Real world point coordinates.

Returns: Converted projective point.

virtual Vector3 tdv::nuitrack::DepthSensor::convertRealToProjCoords	(	float	x,
		float	y,
		float	z
	)		const

inlinevirtual

Convert real world coordinates to projective coordinates from x, y, z.

Parameters

[in] x,y,z Real world point coordinates.

Returns: Converted projective point.

static DepthSensor::Ptr tdv::nuitrack::DepthSensor::create ( )

inlinestatic

Create the DepthSensor module object.

Returns: Smart pointer to a new DepthSensor instance.

Note: Do not call this method twice. Instead, use the previously received DepthSensor::Ptr.

void tdv::nuitrack::DepthSensor::disconnectOnNewFrame ( uint64_t handler )

inline

Remove a callback of the new depth frame request.

Parameters

[in] handler ID of the previously added callback.

See Also: connectOnNewFrame

virtual uint64_t tdv::nuitrack::DepthSensor::getTimestamp ( )

inlinevirtual

Returns the last processed data timestamp in microseconds.

Returns timestamp corresponding to the last available depth frame.

Note: The exact meaning of this value depends on the depth provider.

bool tdv::nuitrack::DepthSensor::isMirror ( ) const

inline

Returns true if mirror mode is enabled, false otherwise.

See Also: setMirror

void tdv::nuitrack::DepthSensor::setMirror ( bool mirror )

inline

Set mirror mode state.

Call setMirror(true) to enable mirror mode. Call setMirror(false) to disable mirror mode.

If the mirror mode is on, the depth map from the sensor will be reflected horizontally before consequent processing.

Parameters

[in] mirror Mirror mode state to be set.

See Also: isMirror

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation