32 #include "rtabmap/core/Version.h"
36 #include <k4a/k4atypes.h>
37 #include <k4arecord/playback.h>
47 static bool available();
51 float imageRate = 0.0
f,
54 float imageRate = 0.0
f,
58 virtual bool init(
const std::string & calibrationFolder =
".",
const std::string & cameraName =
"");
59 virtual bool isCalibrated()
const;
60 virtual std::string getSerial()
const;
62 void setIRDepthFormat(
bool enabled);
63 void setPreferences(
int rgb_resolution,
int framerate,
int depth_resolution);
74 k4a_device_t deviceHandle_;
75 k4a_device_configuration_t config_;
76 k4a_calibration_t calibration_;
77 k4a_transformation_t transformationHandle_;
78 k4a_capture_t captureHandle_;
79 k4a_playback_t playbackHandle_;
80 std::string serial_number_;
84 std::string fileName_;
87 int depth_resolution_;
89 double previousStamp_;
90 double timestampOffset_;