Point Cloud Library (PCL)  1.10.1
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 
61  CaptureOpenNI();
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 };
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::gpu::kinfuLS::CaptureOpenNI::release
void release()
pcl::gpu::kinfuLS::CaptureOpenNI::depth_focal_length_VGA
float depth_focal_length_VGA
Definition: openni_capture.h:74
pcl::gpu::kinfuLS::CaptureOpenNI::baseline
float baseline
Definition: openni_capture.h:75
pcl::gpu::kinfuLS::CaptureOpenNI::pixelSize
double pixelSize
Definition: openni_capture.h:78
pcl::gpu::kinfuLS::PixelRGB
Input/output pixel format for KinfuTracker.
Definition: pixel_rgb.h:50
pcl::gpu::kinfuLS::CaptureOpenNI::PROP_OPENNI_REGISTRATION_ON
@ PROP_OPENNI_REGISTRATION_ON
Definition: openni_capture.h:58
pcl::gpu::kinfuLS::CaptureOpenNI::grab
bool grab(PtrStepSz< const unsigned short > &depth, PtrStepSz< const RGB > &rgb24)
pcl::gpu::kinfuLS::CaptureOpenNI::setRegistration
bool setRegistration(bool value=false)
pcl::gpu::kinfuLS::CaptureOpenNI::shadow_value
int shadow_value
Definition: openni_capture.h:76
pcl::gpu::kinfuLS::CaptureOpenNI::open
void open(int device)
pcl::gpu::kinfuLS::CaptureOpenNI::max_depth
unsigned short max_depth
Definition: openni_capture.h:80
pcl::gpu::kinfuLS::CaptureOpenNI
Definition: openni_capture.h:53
pcl::gpu::kinfuLS::CaptureOpenNI::~CaptureOpenNI
~CaptureOpenNI()
pcl::gpu::PtrStepSz
Definition: kernel_containers.h:89
pcl::gpu::kinfuLS::CaptureOpenNI::CaptureOpenNI
CaptureOpenNI()
pcl::gpu::kinfuLS::CaptureOpenNI::no_sample_value
int no_sample_value
Definition: openni_capture.h:77