00001 /***************************************************************************** 00002 * * 00003 * OpenNI 1.0 Alpha * 00004 * Copyright (C) 2010 PrimeSense Ltd. * 00005 * * 00006 * This file is part of OpenNI. * 00007 * * 00008 * OpenNI is free software: you can redistribute it and/or modify * 00009 * it under the terms of the GNU Lesser General Public License as published * 00010 * by the Free Software Foundation, either version 3 of the License, or * 00011 * (at your option) any later version. * 00012 * * 00013 * OpenNI is distributed in the hope that it will be useful, * 00014 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00015 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00016 * GNU Lesser General Public License for more details. * 00017 * * 00018 * You should have received a copy of the GNU Lesser General Public License * 00019 * along with OpenNI. If not, see <http://www.gnu.org/licenses/>. * 00020 * * 00021 *****************************************************************************/ 00022 00023 #ifndef XNV_POINT_DRAWER_H_ 00024 #define XNV_POINT_DRAWER_H_ 00025 00026 #include <openni/XnCppWrapper.h> 00027 00028 #include <ros/ros.h> 00029 #include <image_transport/image_transport.h> 00030 #include <opencv/cv.h> 00031 #include <opencv/cvwimage.h> 00032 #include <opencv/highgui.h> 00033 #include <cv_bridge/CvBridge.h> 00034 00035 void PublishPeopleImage(const xn::DepthMetaData& dmd, const xn::SceneMetaData& smd, image_transport::Publisher& pub); 00036 00037 #endif