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/kinfu.h>
46
47namespace pcl
48{
49 namespace gpu
50 {
52 {
53public:
55
57
58
60 CaptureOpenNI(int device);
61 CaptureOpenNI(const std::string& oni_filename);
62
63 void open(int device);
64 void open(const std::string& oni_filename);
65 void release();
66
68
70
71 //parameters taken from camera/oni
73 float baseline; // mm
76 double pixelSize; //mm
77
78 unsigned short max_depth; //mm
79
80 bool setRegistration (bool value = false);
81private:
82 struct Impl;
83 std::shared_ptr<Impl> impl_;
84 void getParams ();
85
86 };
87 }
88};
void open(const std::string &oni_filename)
void open(int device)
bool grab(PtrStepSz< const unsigned short > &depth, PtrStepSz< const RGB > &rgb24)
CaptureOpenNI(const std::string &oni_filename)
unsigned short max_depth
bool setRegistration(bool value=false)
pcl::gpu::PixelRGB PixelRGB
Pixel type for rendered image.
Definition: kinfu.h:71
Input/output pixel format for KinfuTracker.
Definition: pixel_rgb.h:47