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9 #ifndef mrpt_OPENNI2_RGBD360_H
10 #define mrpt_OPENNI2_RGBD360_H
252 bool& hardware_error);
void enableGrabRGB(bool enable=true)
Enable/disable the grabbing of the RGB channel.
mrpt::gui::CDisplayWindow::Ptr m_win_range[NUM_SENSORS]
bool m_grab_rgb
Default: all true.
COpenNI2_RGBD360()
Default ctor.
virtual void setPathForExternalImages(const std::string &directory)
Set the path where to save off-rawlog image files (this class DOES take into account this path).
void enableGrabDepth(bool enable=true)
Enable/disable the grabbing of the depth channel.
virtual void doProcess()
To be called at a high rate (>XX Hz), this method populates the internal buffer of received observati...
size_t m_preview_window_decimation
If preview is enabled, only show 1 out of N images.
mrpt::gui::CDisplayWindow::Ptr m_win_int[NUM_SENSORS]
An abstract class for accessing OpenNI2 compatible sensors.
size_t m_preview_decim_counter_rgb
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
virtual void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string §ion)
Loads specific configuration for the device from a given source of configuration parameters,...
~COpenNI2_RGBD360()
Default ctor.
A class for grabing RGBD images from several OpenNI2 sensors.
bool isGrabDepthEnabled() const
std::shared_ptr< CDisplayWindow > Ptr
This class allows loading and storing values and vectors of different types from a configuration text...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
virtual void initialize()
Initializes the 3D camera - should be invoked after calling loadConfig() or setting the different par...
bool isGrabRGBEnabled() const
bool m_preview_window
Show preview window while grabbing.
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
void getNextObservation(mrpt::obs::CObservationRGBD360 &out_obs, bool &there_is_obs, bool &hardware_error)
The main data retrieving function, to be called after calling loadConfig() and initialize().
double getMaxRange() const
Get the maximum range (meters) that can be read in the observation field "rangeImage".
Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from...
GLsizei const GLchar ** string
void enableGrab3DPoints(bool enable=true)
Enable/disable the grabbing of the 3D point clouds.
mrpt::poses::CPose3D m_sensorPoseOnRobot
size_t m_preview_decim_counter_range
static const int NUM_SENSORS
double m_maxRange
Sensor max range (meters)
bool isGrab3DPointsEnabled() const
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