i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added more Freenect2 options

Browse Source
This commit is contained in:
matlabbe
2015-11-04 18:31:52 -05:00
parent 2ee9183c17
commit 58190d5422
5 changed files with 322 additions and 66 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
corelib/include/rtabmap/core/CameraRGBD.h
View File

@@ -219,8 +219,9 @@ public:
enum Type{
kTypeColor2DepthSD,
kTypeDepth2ColorHD,
kTypeDepth2ColorSD,
kTypeDepth2ColorHD,
kTypeDepth2ColorHD2,
kTypeIRDepth,
kTypeColorIR
};
@@ -230,7 +231,12 @@ public:
CameraFreenect2(int deviceId= 0,
Type type = kTypeColor2DepthSD,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = Transform::getIdentity(),
float minDepth = 0.3f,
float maxDepth = 12.0f,
bool bilateralFiltering = true,
bool edgeAwareFiltering = true,
bool noiseFiltering = true);
virtual ~CameraFreenect2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
@@ -249,8 +255,11 @@ private:
libfreenect2::PacketPipeline * pipeline_;
libfreenect2::SyncMultiFrameListener * listener_;
libfreenect2::Registration * reg_;
double minKinect2Depth_;
double maxKinect2Depth_;
float minKinect2Depth_;
float maxKinect2Depth_;
bool bilateralFiltering_;
bool edgeAwareFiltering_;
bool noiseFiltering_;
};