38 #include <pcl/pcl_config.h>
42 #ifndef __PCL_IO_PXC_GRABBER__
43 #define __PCL_IO_PXC_GRABBER__
45 #include <pcl/io/eigen.h>
46 #include <pcl/io/boost.h>
47 #include <pcl/io/grabber.h>
48 #include <pcl/common/synchronizer.h>
50 #include <boost/thread.hpp>
52 #include "pxcsmartptr.h"
53 #include "pxcsession.h"
54 #include "util_capture.h"
55 #include "util_pipeline.h"
57 #include "util_render.h"
58 #include <util_capture.h>
59 #include <pxcprojection.h>
60 #include <pxcmetadata.h>
89 typedef void (sig_cb_pxc_point_cloud) (
const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZ> >&);
90 typedef void (sig_cb_pxc_point_cloud_rgb) (
const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGB> >&);
91 typedef void (sig_cb_pxc_point_cloud_rgba) (
const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGBA> >&);
92 typedef void (sig_cb_pxc_point_cloud_i) (
const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&);
119 getFramesPerSecond () const;
136 boost::signals2::signal<sig_cb_pxc_point_cloud>* point_cloud_signal_;
138 boost::signals2::signal<sig_cb_pxc_point_cloud_rgb>* point_cloud_rgb_signal_;
139 boost::signals2::signal<sig_cb_pxc_point_cloud_rgba>* point_cloud_rgba_signal_;
149 mutable boost::mutex fps_mutex_;
152 boost::thread grabber_thread_;
155 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
159 #endif // __PCL_IO_PXC_GRABBER__
160 #endif // HAVE_PXCAPI