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include
pcl
io
openni_camera
openni_device_primesense.h
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011 Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#include <pcl/pcl_config.h>
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#ifdef HAVE_OPENNI
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#ifndef __OPENNI_DEVICE_PRIMESENSE__
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#define __OPENNI_DEVICE_PRIMESENSE__
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#include "openni_device.h"
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#include "openni_driver.h"
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namespace
openni_wrapper
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{
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/**
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* @brief Concrete implementation of the interface OpenNIDevice for a Primesense device.
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* @author Suat Gedikli
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* @date 02.january 2011
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* @ingroup io
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*/
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class
DevicePrimesense
:
public
OpenNIDevice
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{
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friend
class
OpenNIDriver
;
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public
:
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DevicePrimesense
(xn::Context& context,
const
xn::NodeInfo& device_node,
const
xn::NodeInfo& image_node,
const
xn::NodeInfo& depth_node,
const
xn::NodeInfo& ir_node);
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virtual
~DevicePrimesense
() throw ();
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//virtual void setImageOutputMode (const XnMapOutputMode& output_mode);
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protected:
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virtual boost::shared_ptr<
Image
>
getCurrentImage
(boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ();
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void
enumAvailableModes
() throw ();
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virtual
bool
isImageResizeSupported
(
unsigned
input_width,
unsigned
input_height,
unsigned
output_width,
unsigned
output_height) const throw ();
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virtual
void
startImageStream
();
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virtual
void
startDepthStream
();
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};
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}
// namespace
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#endif
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#endif // __OPENNI_DEVICE_PRIMESENSE__