Point Cloud Library (PCL)  1.14.0-dev
openni_capture.h
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34  * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
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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 
47 namespace pcl
48 {
49  namespace gpu
50  {
52  {
53 public:
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);
81 private:
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