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];
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
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.
void enableGrabRGB(bool enable=true)
Enable/disable the grabbing of the RGB channel.
bool isGrabRGBEnabled() const
size_t m_preview_window_decimation
If preview is enabled, only show 1 out of N images.
This class allows loading and storing values and vectors of different types from a configuration text...
A class for grabing RGBD images from several OpenNI2 sensors.
void enableGrabDepth(bool enable=true)
Enable/disable the grabbing of the depth channel.
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.
size_t m_preview_decim_counter_rgb
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
mrpt::poses::CPose3D m_sensorPoseOnRobot
bool m_preview_window
Show preview window while grabbing.
bool isGrab3DPointsEnabled() const
double m_maxRange
Sensor max range (meters)
bool isGrabDepthEnabled() const