Point Cloud Library (PCL) 1.12.0
openni_capture.h
1/*
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34 * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
35 */
36
37#pragma once
38
39#include <pcl/gpu/containers/device_array.h>
40#include <pcl/gpu/containers/kernel_containers.h>
41
42#include <string>
43#include <memory>
44
45#include <pcl/gpu/kinfu_large_scale/kinfu.h>
46
47namespace pcl
48{
49 namespace gpu
50 {
51 namespace kinfuLS
52 {
54 {
55 public:
57
59
60
62 CaptureOpenNI(int device);
63 CaptureOpenNI(const std::string& oni_filename);
64
65 void open(int device);
66 void open(const std::string& oni_filename);
67 void release();
68
70
72
73 //parameters taken from camera/oni
75 float baseline; // mm
78 double pixelSize; //mm
79
80 unsigned short max_depth; //mm
81
82 bool setRegistration (bool value = false);
83 private:
84 struct Impl;
85 std::shared_ptr<Impl> impl_;
86 void getParams ();
87
88 };
89 }
90 }
91};
CaptureOpenNI(const std::string &oni_filename)
bool setRegistration(bool value=false)
void open(const std::string &oni_filename)
bool grab(PtrStepSz< const unsigned short > &depth, PtrStepSz< const RGB > &rgb24)
Input/output pixel format for KinfuTracker.
Definition: pixel_rgb.h:51