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_ */