Method processDepthFrame

io/src/openni2_grabber.cpp:880–895

void pcl::io::OpenNI2Grabber::processDepthFrame (openni::VideoStream& stream)
{
  openni::VideoFrameRef frame;
  stream.readFrame (&frame);
  FrameWrapper::Ptr frameWrapper(new Openni2FrameWrapper(frame));

  float focalLength = device_->getDepthFocalLength ();

  float baseline = device_->getBaseline();
  std::uint64_t no_sample_value = device_->getShadowValue();
  std::uint64_t shadow_value = no_sample_value;

  DepthImage::Ptr image (new DepthImage (frameWrapper, baseline, focalLength, shadow_value, no_sample_value));

  depthCallback (image, nullptr);
}


void pcl::io::OpenNI2Grabber::processIRFrame (openni::VideoStream& stream)