Point Cloud Library (PCL)  1.14.1-dev
openni_device_primesense.h
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36 
37 #pragma once
38 
39 #include <pcl/pcl_config.h>
40 #include <pcl/memory.h>
41 #ifdef HAVE_OPENNI
42 
43 #include "openni_device.h"
44 #include "openni_driver.h"
45 
46 #include <pcl/io/openni_camera/openni_image.h>
47 
48 
49 namespace openni_wrapper
50 {
51 /**
52  * @brief Concrete implementation of the interface OpenNIDevice for a Primesense device.
53  * @author Suat Gedikli
54  * @date 02.january 2011
55  * @ingroup io
56  */
58 {
59  friend class OpenNIDriver;
60 public:
61  DevicePrimesense (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node);
62  ~DevicePrimesense () noexcept override;
63  //virtual void setImageOutputMode (const XnMapOutputMode& output_mode);
64 
65 protected:
66  Image::Ptr getCurrentImage (pcl::shared_ptr<xn::ImageMetaData> image_meta_data) const noexcept override;
67  void enumAvailableModes () noexcept;
68  bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const noexcept override;
69 
70  void startImageStream () override;
71  void startDepthStream () override;
72 };
73 } // namespace
74 
75 #endif
Concrete implementation of the interface OpenNIDevice for a Primesense device.
void startImageStream() override
starts the image stream.
Image::Ptr getCurrentImage(pcl::shared_ptr< xn::ImageMetaData > image_meta_data) const noexcept override
void startDepthStream() override
starts the depth stream.
bool isImageResizeSupported(unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const noexcept override
DevicePrimesense(xn::Context &context, const xn::NodeInfo &device_node, const xn::NodeInfo &image_node, const xn::NodeInfo &depth_node, const xn::NodeInfo &ir_node)
~DevicePrimesense() noexcept override
Image class containing just a reference to image meta data.
Definition: openni_image.h:59
Class representing an astract device for OpenNI devices: Primesense PSDK, Microsoft Kinect,...
Definition: openni_device.h:72
pcl::shared_ptr< OpenNIDevice > Ptr
Definition: openni_device.h:80
Driver class implemented as Singleton.
Definition: openni_driver.h:66
Defines functions, macros and traits for allocating and using memory.