Open3D (C++ API)  0.12.0
AzureKinectSensor.h
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26 
27 #pragma once
28 
29 #include <memory>
30 
33 
34 struct _k4a_capture_t; // typedef _k4a_capture_t* k4a_capture_t;
35 struct _k4a_device_t; // typedef _k4a_device_t* k4a_device_t;
36 struct _k4a_transformation_t; // typedef _k4a_transformation_t*
37  // k4a_transformation_t;
38 
39 namespace open3d {
40 namespace geometry {
41 class RGBDImage;
42 class Image;
43 } // namespace geometry
44 
45 namespace io {
46 
47 // Avoid including AzureKinectRecorder.h
48 class AzureKinectRecorder;
49 
53 class AzureKinectSensor : public RGBDSensor {
54 public:
56  AzureKinectSensor(const AzureKinectSensorConfig& sensor_config);
58 
59  bool Connect(size_t sensor_index) override;
60  std::shared_ptr<geometry::RGBDImage> CaptureFrame(
61  bool enable_align_depth_to_color) const override;
62 
63  static bool PrintFirmware(_k4a_device_t* device);
65  static bool ListDevices();
66  static std::shared_ptr<geometry::RGBDImage> DecompressCapture(
67  _k4a_capture_t* capture, _k4a_transformation_t* transformation);
68 
69 protected:
70  _k4a_capture_t* CaptureRawFrame() const;
71 
73  _k4a_transformation_t* transform_depth_to_color_;
74  _k4a_device_t* device_;
75  int timeout_;
76 
77  friend class AzureKinectRecorder;
78 };
79 
80 } // namespace io
81 } // namespace open3d
Definition: AzureKinectRecorder.h:51
Definition: AzureKinectSensorConfig.h:45
Definition: RGBDSensor.h:41
AzureKinectSensorConfig sensor_config_
Definition: AzureKinectSensor.h:72
Definition: AzureKinectSensor.h:53
Definition: PinholeCameraIntrinsic.cpp:35
_k4a_device_t * device_
Definition: AzureKinectSensor.h:74
int timeout_
Definition: AzureKinectSensor.h:75
_k4a_transformation_t * transform_depth_to_color_
Definition: AzureKinectSensor.h:73