Program Listing for File openni_capture.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  All rights reserved.
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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 *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
 */

#pragma once

#include <pcl/gpu/containers/device_array.h>
#include <pcl/gpu/containers/kernel_containers.h>

#include <boost/shared_ptr.hpp>
#include <string>

#include <pcl/gpu/kinfu/kinfu.h>

namespace pcl
{
  namespace gpu
  {
    class CaptureOpenNI
    {
public:
    typedef KinfuTracker::PixelRGB RGB;

    enum { PROP_OPENNI_REGISTRATION_ON  = 104 };


    CaptureOpenNI();
    CaptureOpenNI(int device);
    CaptureOpenNI(const std::string& oni_filename);

    void open(int device);
    void open(const std::string& oni_filename);
    void release();

    ~CaptureOpenNI();

    bool grab (PtrStepSz<const unsigned short>& depth, PtrStepSz<const RGB>& rgb24);

    //parameters taken from camera/oni
    float depth_focal_length_VGA;
    float baseline;         // mm
    int shadow_value;
    int no_sample_value;
    double pixelSize;         //mm

    unsigned short max_depth;         //mm

    bool setRegistration (bool value = false);
private:
    struct Impl;
    boost::shared_ptr<Impl> impl_;
    void getParams ();

    };
  }
};