capture.hpp

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#pragma once

#include <OpenNI.h>
#include <kfusion/kinfu.hpp>
#include <opencv2/core/core.hpp>
#include <string>

namespace kfusion
{
    class KF_EXPORTS OpenNISource
    {
    public:
        typedef kfusion::PixelRGB RGB24;

        enum { PROP_OPENNI_REGISTRATION_ON  = 104 };

        OpenNISource();
        OpenNISource(int device);
        OpenNISource(const std::string& oni_filename);

        void open(int device);
        void open(const std::string& oni_filename);
        void release();
                void triggerRecord();
                void triggerPause();
                bool isRecord(){return isOni_;}
        ~OpenNISource();

        int grab(cv::Mat &depth, cv::Mat &image);

        //parameters taken from camera/oni
        int shadow_value, no_sample_value;
        float depth_focal_length_VGA;
        float baseline;               // mm
        double pixelSize;             // mm
        unsigned short max_depth;     // mm

        bool setRegistration (bool value = false);
    private:
        struct Impl;
        cv::Ptr<Impl> impl_;
        void getParams ();
        int maxFrameIndex_;
        openni::Recorder rec_;
        bool isOni_;
        bool recording_;
        int rec_count_;

    };
}