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00038 #ifndef __OPENNI_DEVICE_KINECT__
00039 #define __OPENNI_DEVICE_KINECT__
00040
00041 #include "openni_device.h"
00042 #include "openni_driver.h"
00043 #include "openni_image_bayer_grbg.h"
00044
00045 namespace openni_wrapper
00046 {
00047
00053 class DeviceKinect : public OpenNIDevice
00054 {
00055 friend class OpenNIDriver;
00056 public:
00057 DeviceKinect (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node) throw (OpenNIException);
00058 virtual ~DeviceKinect () throw ();
00059
00060 inline void setDebayeringMethod (const ImageBayerGRBG::DebayeringMethod& debayering_method) throw ();
00061 inline const ImageBayerGRBG::DebayeringMethod& getDebayeringMethod () const throw ();
00062
00063
00064 virtual void setSynchronization (bool on_off) throw (OpenNIException);
00065 virtual bool isSynchronized () const throw (OpenNIException);
00066 virtual bool isSynchronizationSupported () const throw ();
00067
00068 virtual bool isDepthCropped () const throw (OpenNIException);
00069 virtual void setDepthCropping (unsigned x, unsigned y, unsigned width, unsigned height) throw (OpenNIException);
00070 virtual bool isDepthCroppingSupported () const throw ();
00071
00072 protected:
00073 virtual boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ();
00074 virtual void enumAvailableModes () throw (OpenNIException);
00075 virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ();
00076 ImageBayerGRBG::DebayeringMethod debayering_method_;
00077 };
00078
00079 void DeviceKinect::setDebayeringMethod (const ImageBayerGRBG::DebayeringMethod& debayering_method) throw ()
00080 {
00081 debayering_method_ = debayering_method;
00082 }
00083
00084 const ImageBayerGRBG::DebayeringMethod& DeviceKinect::getDebayeringMethod () const throw ()
00085 {
00086 return debayering_method_;
00087 }
00088 }
00089
00090 #endif // __OPENNI_DEVICE_KINECT__