openni_capture.h
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00001 #ifndef OPENNI_CAPTURE_H
00002 #define OPENNI_CAPTURE_H
00003 
00004 #include "typedefs.h"
00005 
00006 #include <pcl/io/openni_grabber.h>
00007 #include <pcl/visualization/pcl_visualizer.h>
00008 
00009 /* A simple class for capturing data from an OpenNI camera */
00010 class OpenNICapture
00011 {
00012   public:
00013     OpenNICapture (const std::string& device_id = "");
00014     ~OpenNICapture ();
00015     
00016     void setTriggerMode (bool use_trigger);
00017     const PointCloudPtr snap ();
00018     const PointCloudPtr snapAndSave (const std::string & filename);
00019 
00020   protected:
00021     void onNewFrame (const PointCloudConstPtr &cloud);
00022     void onKeyboardEvent (const pcl::visualization::KeyboardEvent & event);
00023 
00024     void waitForTrigger ();
00025 
00026     pcl::OpenNIGrabber grabber_;
00027     boost::shared_ptr<pcl::visualization::PCLVisualizer> preview_;
00028     int frame_counter_;
00029     PointCloudPtr most_recent_frame_;
00030     bool use_trigger_, trigger_;
00031     boost::mutex mutex_;
00032 };
00033 
00034 #endif


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:15:59