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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* 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
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* 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 <string>
#include <memory>
#include <pcl/gpu/kinfu/kinfu.h>
namespace pcl
{
namespace gpu
{
class CaptureOpenNI
{
public:
using RGB = KinfuTracker::PixelRGB;
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;
std::shared_ptr<Impl> impl_;
void getParams ();
};
}
};
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