openni_device_kinect.h
Go to the documentation of this file.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 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 */ 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) 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 getAvailableModes () 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__