openni_device_primesense.h

/*
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 *  Copyright (c) 2011 Willow Garage, Inc.
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#pragma once
 
#include <pcl/pcl_config.h>
#include <pcl/memory.h>
#ifdef HAVE_OPENNI
 
#include "openni_device.h"
#include "openni_driver.h"
 
#include <pcl/io/openni_camera/openni_image.h>
 
 
namespace openni_wrapper
{
/**
 * @brief Concrete implementation of the interface OpenNIDevice for a Primesense device.
 * @author Suat Gedikli
 * @date 02.january 2011
 * @ingroup io
 */
class DevicePrimesense : public OpenNIDevice
{
  friend class OpenNIDriver;
public:
  DevicePrimesense (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node);
  ~DevicePrimesense () noexcept override;
  //virtual void setImageOutputMode (const XnMapOutputMode& output_mode);
 
protected:
  Image::Ptr getCurrentImage (pcl::shared_ptr<xn::ImageMetaData> image_meta_data) const noexcept override;
  void enumAvailableModes () noexcept;
  bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const noexcept override;
 
  void startImageStream () override;
  void startDepthStream () override;
};
} // namespace
 
#endif