32 #include "rtabmap/core/Version.h"
37 class Freenect2Device;
38 class SyncMultiFrameListener;
50 static bool available();
67 float minDepth = 0.3f,
68 float maxDepth = 12.0f,
69 bool bilateralFiltering =
true,
70 bool edgeAwareFiltering =
true,
71 bool noiseFiltering =
true,
72 const std::string & pipelineName =
"");
75 virtual bool init(
const std::string & calibrationFolder =
".",
const std::string & cameraName =
"");
76 virtual bool isCalibrated()
const;
77 virtual std::string getSerial()
const;
83 #ifdef RTABMAP_FREENECT2
87 libfreenect2::Freenect2 * freenect2_;
88 libfreenect2::Freenect2Device *dev_;
89 libfreenect2::SyncMultiFrameListener * listener_;
90 libfreenect2::Registration * reg_;
91 float minKinect2Depth_;
92 float maxKinect2Depth_;
93 bool bilateralFiltering_;
94 bool edgeAwareFiltering_;
96 std::string pipelineName_;