Point Cloud Library (PCL)
1.9.1
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38 #ifndef PCL_IO_DEPTH_SENSE_GRABBER_IMPL_H
39 #define PCL_IO_DEPTH_SENSE_GRABBER_IMPL_H
41 #include <boost/thread/mutex.hpp>
43 #include <DepthSense.hxx>
46 #include <pcl/io/buffers.h>
47 #include <pcl/io/depth_sense_grabber.h>
139 onDepthDataReceived (DepthSense::DepthNode node, DepthSense::DepthNode::NewSampleReceivedData data);
146 onColorDataReceived (DepthSense::ColorNode node, DepthSense::ColorNode::NewSampleReceivedData data);
148 template <typename Point>
void
This file defines compatibility wrappers for low level I/O functions.
EventFrequency frequency_
boost::signals2::signal< sig_cb_depth_sense_point_cloud_rgba > * point_cloud_rgba_signal_
Signal to indicate whether new XYZRGBA cloud is available.
int confidence_threshold_
std::string device_id_
Serial number of the device captured by this grabber.
void onDepthDataReceived(DepthSense::DepthNode node, DepthSense::DepthNode::NewSampleReceivedData data)
A callback for processing depth data.
DepthSenseGrabberImpl(DepthSenseGrabber *parent, const std::string &device_id)
bool need_xyz_
Indicates whether there are subscribers for PointXYZ signal.
void setConfidenceThreshold(int threshold)
static const int FRAMERATE
PointCloud represents the base class in PCL for storing collections of 3D points.
void enableTemporalFiltering(DepthSenseGrabber::TemporalFilteringType type, size_t window_size)
void onColorDataReceived(DepthSense::ColorNode node, DepthSense::ColorNode::NewSampleReceivedData data)
A callback for processing color data.
void computeXYZ(PointCloud< Point > &cloud)
Grabber for DepthSense devices (e.g.
bool need_xyzrgba_
Indicates whether there are subscribers for PointXYZRGBA signal.
DepthSenseGrabber * p_
Parent grabber.
void() sig_cb_depth_sense_point_cloud_rgba(const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &)
boost::shared_ptr< DepthSense::ProjectionHelper > projection_
boost::signals2::signal< sig_cb_depth_sense_point_cloud > * point_cloud_signal_
Signal to indicate whether new XYZ cloud is available.
static const int COLOR_WIDTH
std::vector< uint8_t > color_data_
Temporary buffer to store color data.
A helper class to measure frequency of a certain event.
static const int COLOR_SIZE
void() sig_cb_depth_sense_point_cloud(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &)
DepthSenseGrabber::TemporalFilteringType temporal_filtering_type_
DepthSenseGrabber::sig_cb_depth_sense_point_cloud_rgba sig_cb_depth_sense_point_cloud_rgba
boost::shared_ptr< pcl::io::Buffer< float > > depth_buffer_
void configureColorNode(DepthSense::ColorNode node) const
DepthSenseGrabber::sig_cb_depth_sense_point_cloud sig_cb_depth_sense_point_cloud
static const int COLOR_HEIGHT
void setCameraParameters(const DepthSense::StereoCameraParameters ¶meters)
void configureDepthNode(DepthSense::DepthNode node) const
float getFramesPerSecond() const