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Updated CameraFreenect2 with latest freenect2 library (commit cdeb07917c)

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matlabbe
2015-11-03 17:31:07 -05:00
parent 620ce51f70
commit 2ee9183c17
11 changed files with 190 additions and 67 deletions
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11
corelib/include/rtabmap/core/CameraRGBD.h
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@@ -218,16 +218,17 @@ public:
static bool available();
enum Type{
kTypeRGBDepthSD,
kTypeRGBDepthHD,
kTypeColor2DepthSD,
kTypeDepth2ColorHD,
kTypeDepth2ColorSD,
kTypeIRDepth,
kTypeRGBIR
kTypeColorIR
};
public:
// default local transform z in, x right, y down));
CameraFreenect2(int deviceId= 0,
Type type = kTypeRGBDepthSD,
Type type = kTypeColor2DepthSD,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraFreenect2();
@@ -248,6 +249,8 @@ private:
libfreenect2::PacketPipeline * pipeline_;
libfreenect2::SyncMultiFrameListener * listener_;
libfreenect2::Registration * reg_;
double minKinect2Depth_;
double maxKinect2Depth_;
};