openni_device_kinect.h
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011 Willow Garage, Inc.
00005  *    Suat Gedikli <gedikli@willowgarage.com>
00006  *
00007  *  All rights reserved.
00008  *
00009  *  Redistribution and use in source and binary forms, with or without
00010  *  modification, are permitted provided that the following conditions
00011  *  are met:
00012  *
00013  *   * Redistributions of source code must retain the above copyright
00014  *     notice, this list of conditions and the following disclaimer.
00015  *   * Redistributions in binary form must reproduce the above
00016  *     copyright notice, this list of conditions and the following
00017  *     disclaimer in the documentation and/or other materials provided
00018  *     with the distribution.
00019  *   * Neither the name of Willow Garage, Inc. nor the names of its
00020  *     contributors may be used to endorse or promote products derived
00021  *     from this software without specific prior written permission.
00022  *
00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00037 
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   // these capabilities are not supported for kinect
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 } // namespace
00089 
00090 #endif // __OPENNI_DEVICE_KINECT__


openni_camera
Author(s): Patrick Mihelich, Suat Gedikli, Radu Bogdan Rusu
autogenerated on Tue Apr 18 2017 02:14:10