openni_device_primesense.h

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#include <pcl/pcl_config.h>
#ifdef HAVE_OPENNI

#ifndef __OPENNI_DEVICE_PRIMESENSE__
#define __OPENNI_DEVICE_PRIMESENSE__

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

namespace openni_wrapper
{
class DevicePrimesense : public OpenNIDevice
{
  friend class OpenNIDriver;
public:
  DevicePrimesense (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node);
  virtual ~DevicePrimesense () throw ();
  //virtual void setImageOutputMode (const XnMapOutputMode& output_mode);

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

  virtual void startImageStream ();
  virtual void startDepthStream ();
};
} // namespace

#endif
#endif // __OPENNI_DEVICE_PRIMESENSE__