Point Cloud Library (PCL)  1.14.0-dev
openni_capture.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage, Inc. nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *
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 
47 namespace 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