Open3D (C++ API)  0.16.1
AzureKinectSensor.h
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26
27#pragma once
28
29#include <memory>
30
33
34struct _k4a_capture_t; // typedef _k4a_capture_t* k4a_capture_t;
35struct _k4a_device_t; // typedef _k4a_device_t* k4a_device_t;
36struct _k4a_transformation_t; // typedef _k4a_transformation_t*
37 // k4a_transformation_t;
38
39namespace open3d {
40namespace geometry {
41class RGBDImage;
42class Image;
43} // namespace geometry
44
45namespace io {
46
47// Avoid including AzureKinectRecorder.h
48class AzureKinectRecorder;
49
54public:
56 AzureKinectSensor(const AzureKinectSensorConfig& sensor_config);
58
59 bool Connect(size_t sensor_index) override;
60 void Disconnect();
61 std::shared_ptr<geometry::RGBDImage> CaptureFrame(
62 bool enable_align_depth_to_color) const override;
63
64 static bool PrintFirmware(_k4a_device_t* device);
66 static bool ListDevices();
67 static std::shared_ptr<geometry::RGBDImage> DecompressCapture(
68 _k4a_capture_t* capture, _k4a_transformation_t* transformation);
69
70protected:
71 _k4a_capture_t* CaptureRawFrame() const;
72
74 _k4a_transformation_t* transform_depth_to_color_;
75 _k4a_device_t* device_;
77
78 friend class AzureKinectRecorder;
79};
80
81} // namespace io
82} // namespace open3d
Definition: AzureKinectRecorder.h:51
Definition: AzureKinectSensorConfig.h:45
Definition: AzureKinectSensor.h:53
_k4a_transformation_t * transform_depth_to_color_
Definition: AzureKinectSensor.h:74
static std::shared_ptr< geometry::RGBDImage > DecompressCapture(_k4a_capture_t *capture, _k4a_transformation_t *transformation)
Definition: AzureKinectSensor.cpp:252
std::shared_ptr< geometry::RGBDImage > CaptureFrame(bool enable_align_depth_to_color) const override
Definition: AzureKinectSensor.cpp:151
_k4a_device_t * device_
Definition: AzureKinectSensor.h:75
int timeout_
Definition: AzureKinectSensor.h:76
bool Connect(size_t sensor_index) override
Definition: AzureKinectSensor.cpp:48
void Disconnect()
Definition: AzureKinectSensor.cpp:129
static bool PrintFirmware(_k4a_device_t *device)
Definition: AzureKinectSensor.cpp:198
AzureKinectSensorConfig sensor_config_
Definition: AzureKinectSensor.h:73
AzureKinectSensor(const AzureKinectSensorConfig &sensor_config)
Default Constructor.
Definition: AzureKinectSensor.cpp:42
static bool ListDevices()
List available Azure Kinect devices.
Definition: AzureKinectSensor.cpp:231
_k4a_capture_t * CaptureRawFrame() const
Definition: AzureKinectSensor.cpp:134
~AzureKinectSensor()
Definition: AzureKinectSensor.cpp:46
Definition: RGBDSensor.h:41
Definition: PinholeCameraIntrinsic.cpp:35