9 #ifndef mrpt_OPENNI2_RGBD360_H
10 #define mrpt_OPENNI2_RGBD360_H
193 bool &hardware_error );
226 const std::string §ion );
230 static const int NUM_SENSORS = 2;
235 mrpt::gui::CDisplayWindowPtr m_win_range[NUM_SENSORS], m_win_int[NUM_SENSORS];
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
A class for grabing RGBD images from several OpenNI2 sensors.
virtual void doProcess()
To be called at a high rate (>XX Hz), this method populates the internal buffer of received observati...
void enableGrab3DPoints(bool enable=true)
Enable/disable the grabbing of the 3D point clouds.
bool isGrab3DPointsEnabled() const
mrpt::poses::CPose3D m_sensorPoseOnRobot
double m_maxRange
Sensor max range (meters)
size_t m_preview_window_decimation
If preview is enabled, only show 1 out of N images.
bool m_grab_3D_points
Default: all true.
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).
virtual void initialize()
Initializes the 3D camera - should be invoked after calling loadConfig() or setting the different par...
COpenNI2_RGBD360()
Default ctor.
void enableGrabRGB(bool enable=true)
Enable/disable the grabbing of the RGB channel.
~COpenNI2_RGBD360()
Default ctor.
bool isGrabDepthEnabled() const
virtual void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string §ion)
Loads specific configuration for the device from a given source of configuration parameters,...
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().
bool m_preview_window
Show preview window while grabbing.
bool isGrabRGBEnabled() const
void enableGrabDepth(bool enable=true)
Enable/disable the grabbing of the depth channel.
size_t m_preview_decim_counter_range
double getMaxRange() const
Get the maximum range (meters) that can be read in the observation field "rangeImage".
An abstract class for accessing OpenNI2 compatible sensors.
Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
This class allows loading and storing values and vectors of different types from a configuration text...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.