openni_capture.h

#pragma once
 
#include "typedefs.h"
 
#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/pcl_visualizer.h>
 
#include <mutex>
 
/* A simple class for capturing data from an OpenNI camera */
class OpenNICapture
{
public:
  OpenNICapture (const std::string& device_id = "");
  ~OpenNICapture ();
  
  void setTriggerMode (bool use_trigger);
  const PointCloudPtr snap ();
  const PointCloudPtr snapAndSave (const std::string & filename);
 
protected:
  void onNewFrame (const PointCloudConstPtr &cloud);
  void onKeyboardEvent (const pcl::visualization::KeyboardEvent & event);
 
  void waitForTrigger ();
 
  pcl::OpenNIGrabber grabber_;
  pcl::visualization::PCLVisualizer *preview_;
  int frame_counter_;
  PointCloudPtr most_recent_frame_;
  bool use_trigger_, trigger_;
  std::mutex mutex_;
};