Point Cloud Library (PCL)
1.7.1
Main Page
Modules
Namespaces
Classes
io
include
pcl
io
openni_camera
openni_device_kinect.h
1
/*
2
* Software License Agreement (BSD License)
3
*
4
* Copyright (c) 2011 Willow Garage, Inc.
5
*
6
* All rights reserved.
7
*
8
* Redistribution and use in source and binary forms, with or without
9
* modification, are permitted provided that the following conditions
10
* are met:
11
*
12
* * Redistributions of source code must retain the above copyright
13
* notice, this list of conditions and the following disclaimer.
14
* * Redistributions in binary form must reproduce the above
15
* copyright notice, this list of conditions and the following
16
* disclaimer in the documentation and/or other materials provided
17
* with the distribution.
18
* * Neither the name of the copyright holder(s) nor the names of its
19
* contributors may be used to endorse or promote products derived
20
* from this software without specific prior written permission.
21
*
22
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33
* POSSIBILITY OF SUCH DAMAGE.
34
*
35
*/
36
37
#include <pcl/pcl_config.h>
38
#ifdef HAVE_OPENNI
39
40
#ifndef __OPENNI_DEVICE_KINECT__
41
#define __OPENNI_DEVICE_KINECT__
42
43
#include "openni_device.h"
44
#include "openni_driver.h"
45
#include "openni_image_bayer_grbg.h"
46
47
namespace
openni_wrapper
48
{
49
50
/**
51
* @brief Concrete implementation of the interface OpenNIDevice for a MS Kinect device.
52
* @author Suat Gedikli
53
* @date 02.january 2011
54
* @ingroup io
55
*/
56
class
DeviceKinect
:
public
OpenNIDevice
57
{
58
friend
class
OpenNIDriver
;
59
public
:
60
DeviceKinect
(xn::Context& context,
const
xn::NodeInfo& device_node,
const
xn::NodeInfo& image_node,
const
xn::NodeInfo& depth_node,
const
xn::NodeInfo& ir_node);
61
virtual
~DeviceKinect
() throw ();
62
63
inline
void
setDebayeringMethod
(const
ImageBayerGRBG
::DebayeringMethod& debayering_method) throw ();
64
inline const
ImageBayerGRBG
::DebayeringMethod&
getDebayeringMethod
() const throw ();
65
66
virtual
bool
isSynchronizationSupported
() const throw ();
67
68
protected:
69
virtual boost::shared_ptr<
Image
>
getCurrentImage
(boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ();
70
void
enumAvailableModes
() throw ();
71
virtual
bool
isImageResizeSupported
(
unsigned
input_width,
unsigned
input_height,
unsigned
output_width,
unsigned
output_height) const throw ();
72
ImageBayerGRBG
::DebayeringMethod
debayering_method_
;
73
} ;
74
75
void
76
DeviceKinect
::
setDebayeringMethod
(const
ImageBayerGRBG
::DebayeringMethod& debayering_method) throw ()
77
{
78
debayering_method_ = debayering_method;
79
}
80
81
const
ImageBayerGRBG::DebayeringMethod
&
82
DeviceKinect::getDebayeringMethod
()
const
throw ()
83
{
84
return
debayering_method_
;
85
}
86
}
// namespace
87
88
#endif
89
#endif // __OPENNI_DEVICE_KINECT__