openni_capture.h
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00001 #ifndef OPENNI_CAPTURE_H
00002 #define OPENNI_CAPTURE_H
00003 
00004 #include "typedefs.h"
00005 
00006 #include <pcl/io/openni_grabber.h>
00007 #include <pcl/visualization/pcl_visualizer.h>
00008 
00009 /* A simple class for capturing data from an OpenNI camera */
00010 class OpenNICapture
00011 {
00012 public:
00013   OpenNICapture (const std::string& device_id = "");
00014   ~OpenNICapture ();
00015   
00016   void setTriggerMode (bool use_trigger);
00017   const PointCloudPtr snap ();
00018   const PointCloudPtr snapAndSave (const std::string & filename);
00019 
00020 protected:
00021   void onNewFrame (const PointCloudConstPtr &cloud);
00022   void onKeyboardEvent (const pcl::visualization::KeyboardEvent & event);
00023 
00024   void waitForTrigger ();
00025 
00026   pcl::OpenNIGrabber grabber_;
00027   pcl::visualization::PCLVisualizer *preview_;
00028   int frame_counter_;
00029   PointCloudPtr most_recent_frame_;
00030   bool use_trigger_, trigger_;
00031   boost::mutex mutex_;
00032 };
00033 
00034 #endif


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:26:21