openni_device_kinect.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011 Willow Garage, Inc.
 *    Suat Gedikli <gedikli@willowgarage.com>
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#ifndef __OPENNI_DEVICE_KINECT__
#define __OPENNI_DEVICE_KINECT__

#include "openni_device.h"
#include "openni_driver.h"
#include "openni_image_bayer_grbg.h"

namespace openni_wrapper
{

class DeviceKinect : public OpenNIDevice
{
  friend class OpenNIDriver;
public:
  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);
  virtual ~DeviceKinect () throw ();

  inline void setDebayeringMethod (const ImageBayerGRBG::DebayeringMethod& debayering_method) throw ();
  inline const ImageBayerGRBG::DebayeringMethod& getDebayeringMethod () const throw ();
  
  // these capabilities are not supported for kinect
  virtual void setSynchronization (bool on_off) throw (OpenNIException);
  virtual bool isSynchronized () const throw (OpenNIException);
  virtual bool isSynchronizationSupported () const throw ();

  virtual bool isDepthCropped () const throw (OpenNIException);
  virtual void setDepthCropping (unsigned x, unsigned y, unsigned width, unsigned height) throw (OpenNIException);
  virtual bool isDepthCroppingSupported () const throw ();

protected:
  virtual boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ();
  virtual void enumAvailableModes () throw (OpenNIException);
  virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ();
  ImageBayerGRBG::DebayeringMethod debayering_method_;
};

void DeviceKinect::setDebayeringMethod (const ImageBayerGRBG::DebayeringMethod& debayering_method) throw ()
{
  debayering_method_ = debayering_method;
}

const ImageBayerGRBG::DebayeringMethod& DeviceKinect::getDebayeringMethod () const throw ()
{
  return debayering_method_;
}
} // namespace

#endif // __OPENNI_DEVICE_KINECT__