Point Cloud Library (PCL)
1.10.1
kinfu
tools
openni_capture.h
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
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*/
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#pragma once
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#include <pcl/gpu/containers/device_array.h>
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#include <pcl/gpu/containers/kernel_containers.h>
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#include <string>
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#include <memory>
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#include <pcl/gpu/kinfu/kinfu.h>
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namespace
pcl
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{
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namespace
gpu
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{
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class
CaptureOpenNI
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{
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public
:
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using
RGB
=
KinfuTracker::PixelRGB
;
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enum
{
PROP_OPENNI_REGISTRATION_ON
= 104 };
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CaptureOpenNI
();
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CaptureOpenNI
(
int
device);
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CaptureOpenNI
(
const
std::string& oni_filename);
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void
open
(
int
device);
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void
open
(
const
std::string& oni_filename);
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void
release
();
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~CaptureOpenNI
();
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bool
grab
(
PtrStepSz<const unsigned short>
& depth,
PtrStepSz<const RGB>
& rgb24);
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//parameters taken from camera/oni
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float
depth_focal_length_VGA
;
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float
baseline
;
// mm
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int
shadow_value
;
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int
no_sample_value
;
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double
pixelSize
;
//mm
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unsigned
short
max_depth
;
//mm
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bool
setRegistration
(
bool
value =
false
);
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private
:
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struct
Impl;
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std::shared_ptr<Impl> impl_;
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void
getParams ();
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};
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}
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};
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition:
convolution.h:45
pcl::gpu::CaptureOpenNI::pixelSize
double pixelSize
Definition:
openni_capture.h:76
pcl::gpu::KinfuTracker::PixelRGB
pcl::gpu::PixelRGB PixelRGB
Pixel type for rendered image.
Definition:
kinfu.h:70
pcl::gpu::CaptureOpenNI::baseline
float baseline
Definition:
openni_capture.h:73
pcl::gpu::CaptureOpenNI::open
void open(int device)
pcl::gpu::CaptureOpenNI::PROP_OPENNI_REGISTRATION_ON
@ PROP_OPENNI_REGISTRATION_ON
Definition:
openni_capture.h:56
pcl::gpu::PixelRGB
Input/output pixel format for KinfuTracker.
Definition:
pixel_rgb.h:46
pcl::gpu::CaptureOpenNI::shadow_value
int shadow_value
Definition:
openni_capture.h:74
pcl::gpu::CaptureOpenNI::setRegistration
bool setRegistration(bool value=false)
pcl::gpu::CaptureOpenNI::no_sample_value
int no_sample_value
Definition:
openni_capture.h:75
pcl::gpu::CaptureOpenNI::CaptureOpenNI
CaptureOpenNI()
pcl::gpu::CaptureOpenNI::release
void release()
pcl::gpu::CaptureOpenNI::grab
bool grab(PtrStepSz< const unsigned short > &depth, PtrStepSz< const RGB > &rgb24)
pcl::gpu::CaptureOpenNI::max_depth
unsigned short max_depth
Definition:
openni_capture.h:78
pcl::gpu::PtrStepSz
Definition:
kernel_containers.h:89
pcl::gpu::CaptureOpenNI::depth_focal_length_VGA
float depth_focal_length_VGA
Definition:
openni_capture.h:72
pcl::gpu::CaptureOpenNI::~CaptureOpenNI
~CaptureOpenNI()
pcl::gpu::CaptureOpenNI
Definition:
openni_capture.h:51