KinectIO.hpp

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/*
 * KinectIO.h
 *
 *  Created on: 20.03.2012
 *      Author: twiemann
 */
 
#ifndef KINECTIO_H_
#define KINECTIO_H_
 
#include "lvr2/io/KinectGrabber.hpp"
#include <Eigen/Dense>
 
namespace lvr2
{
 
class KinectIO
{
protected:
        KinectIO();
 
public:
        static KinectIO* instance();
 
        virtual ~KinectIO();
 
        PointBufferPtr getBuffer();
 
private:
        KinectGrabber*                  m_grabber;
        Freenect::Freenect*             m_freenect;
        Eigen::Matrix4f                 m_depthMatrix;
 
        static KinectIO*                m_instance;
};
 
} // namespace lvr2
 
#endif /* KINECTIO_H_ */