00001 /* 00002 * Copyright (c) 2013, Willow Garage, Inc. 00003 * Copyright (c) 2016, Orbbec Ltd. 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 the 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 * Author: Tim Liu (liuhua@orbbec.com) 00031 */ 00032 00033 #ifndef ASTRA_FRAME_LISTENER_H_ 00034 #define ASTRA_FRAME_LISTENER_H_ 00035 00036 #include "astra_camera/astra_device.h" 00037 00038 #include <sensor_msgs/Image.h> 00039 00040 #include <vector> 00041 00042 #include "openni2/OpenNI.h" 00043 00044 namespace astra_wrapper 00045 { 00046 00047 class AstraTimerFilter; 00048 00049 class AstraFrameListener : public openni::VideoStream::NewFrameListener 00050 { 00051 public: 00052 AstraFrameListener(); 00053 00054 virtual ~AstraFrameListener() 00055 { }; 00056 00057 void onNewFrame(openni::VideoStream& stream); 00058 00059 void setCallback(FrameCallbackFunction& callback) 00060 { 00061 callback_ = callback; 00062 } 00063 00064 void setUseDeviceTimer(bool enable); 00065 00066 private: 00067 openni::VideoFrameRef m_frame; 00068 00069 FrameCallbackFunction callback_; 00070 00071 bool user_device_timer_; 00072 boost::shared_ptr<AstraTimerFilter> timer_filter_; 00073 00074 double prev_time_stamp_; 00075 }; 00076 00077 } 00078 00079 #endif