Kinect.h
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00001 
00002 /*
00003  * Copyright (c) 2011, Thomas Ruehr <ruehr@cs.tum.edu>
00004  * All rights reserved.
00005  *
00006  * Redistribution and use in source and binary forms, with or without
00007  * modification, are permitted provided that the following conditions are met:
00008  *
00009  *     * Redistributions of source code must retain the above copyright
00010  *       notice, this list of conditions and the following disclaimer.
00011  *     * Redistributions in binary form must reproduce the above copyright
00012  *       notice, this list of conditions and the following disclaimer in the
00013  *       documentation and/or other materials provided with the distribution.
00014  *     * Neither the name of Willow Garage, Inc. nor the names of its
00015  *       contributors may be used to endorse or promote products derived from
00016  *       this software without specific prior written permission.
00017  *
00018  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00021  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00022  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00023  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00024  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00025  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00026  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00027  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00028  * POSSIBILITY OF SUCH DAMAGE.
00029  */
00030 
00031 
00032 #ifndef __KINECT_H__
00033 #define __KINECT_H__
00034 
00035 #include <ros/ros.h>
00036 #include <string>
00037 #include <pcl/point_cloud.h>
00038 #include <pcl/point_types.h>
00039 
00040 
00041 class Kinect
00042 {
00043 private:
00044 
00045   Kinect(){};
00046 
00047   ~Kinect(){};
00048 
00049   static Kinect *instance_;
00050 
00051 public:
00052 
00053   void getCloud(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud, std::string frame_id="/map", ros::Time after = ros::Time(0,0));
00054   void getCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, std::string frame_id="/map", ros::Time after = ros::Time(0,0));
00055 
00056   static Kinect* getInstance()
00057   {
00058       if (!instance_)
00059         instance_ = new Kinect();
00060      return instance_;
00061   }
00062 
00063   volatile bool stop;
00064 
00065 };
00066 
00067 #endif
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Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:57