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