Point Cloud Library (PCL)  1.12.1-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_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