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9 #ifndef mrpt_OPENNI2_RGBD360_H
10 #define mrpt_OPENNI2_RGBD360_H
173 virtual void initialize();
181 virtual void doProcess();
190 void getNextObservation(
193 bool &hardware_error );
199 virtual void setPathForExternalImages(
const std::string &directory );
224 virtual void loadConfig_sensorSpecific(
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];
void enableGrabRGB(bool enable=true)
Enable/disable the grabbing of the RGB channel.
void enableGrabDepth(bool enable=true)
Enable/disable the grabbing of the depth channel.
size_t m_preview_window_decimation
If preview is enabled, only show 1 out of N images.
An abstract class for accessing OpenNI2 compatible sensors.
size_t m_preview_decim_counter_rgb
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
A class for grabing RGBD images from several OpenNI2 sensors.
bool isGrabDepthEnabled() const
This class allows loading and storing values and vectors of different types from a configuration text...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
bool isGrabRGBEnabled() const
bool m_preview_window
Show preview window while grabbing.
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
double getMaxRange() const
Get the maximum range (meters) that can be read in the observation field "rangeImage".
Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from...
void enableGrab3DPoints(bool enable=true)
Enable/disable the grabbing of the 3D point clouds.
mrpt::poses::CPose3D m_sensorPoseOnRobot
double m_maxRange
Sensor max range (meters)
bool isGrab3DPointsEnabled() const
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