Point Cloud Library (PCL)  1.7.1
openni_device_primesense.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011 Willow Garage, Inc.
5  *
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of the copyright holder(s) nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  *
35  */
36 
37 #include <pcl/pcl_config.h>
38 #ifdef HAVE_OPENNI
39 
40 #ifndef __OPENNI_DEVICE_PRIMESENSE__
41 #define __OPENNI_DEVICE_PRIMESENSE__
42 
43 #include "openni_device.h"
44 #include "openni_driver.h"
45 
46 namespace openni_wrapper
47 {
48 /**
49  * @brief Concrete implementation of the interface OpenNIDevice for a Primesense device.
50  * @author Suat Gedikli
51  * @date 02.january 2011
52  * @ingroup io
53  */
55 {
56  friend class OpenNIDriver;
57 public:
58  DevicePrimesense (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node);
59  virtual ~DevicePrimesense () throw ();
60  //virtual void setImageOutputMode (const XnMapOutputMode& output_mode);
61 
62 protected:
63  virtual boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ();
64  void enumAvailableModes () throw ();
65  virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ();
66 
67  virtual void startImageStream ();
68  virtual void startDepthStream ();
69 };
70 } // namespace
71 
72 #endif
73 #endif // __OPENNI_DEVICE_PRIMESENSE__