Point Cloud Library (PCL)  1.10.0-dev
openni_device_kinect.h
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36 
37 #pragma once
38 
39 #include <pcl/pcl_config.h>
40 #include <pcl/make_shared.h>
41 #ifdef HAVE_OPENNI
42 
43 #include "openni_device.h"
44 #include "openni_driver.h"
45 #include "openni_image_bayer_grbg.h"
46 
47 namespace openni_wrapper
48 {
49 
50  /**
51  * @brief Concrete implementation of the interface OpenNIDevice for a MS Kinect device.
52  * @author Suat Gedikli
53  * @date 02.january 2011
54  * @ingroup io
55  */
56  class DeviceKinect : public OpenNIDevice
57  {
58  friend class OpenNIDriver;
59  public:
60  DeviceKinect (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node);
61  ~DeviceKinect () noexcept;
62 
63  inline void setDebayeringMethod (const ImageBayerGRBG::DebayeringMethod& debayering_method) noexcept;
64  inline const ImageBayerGRBG::DebayeringMethod& getDebayeringMethod () const throw ();
65 
66  bool isSynchronizationSupported () const throw () override;
67 
68  protected:
69  Image::Ptr getCurrentImage (pcl::shared_ptr<xn::ImageMetaData> image_meta_data) const throw () override;
70  void enumAvailableModes () noexcept;
71  bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw () override;
73  } ;
74 
75  void
76  DeviceKinect::setDebayeringMethod (const ImageBayerGRBG::DebayeringMethod& debayering_method) noexcept
77  {
78  debayering_method_ = debayering_method;
79  }
80 
83  {
84  return debayering_method_;
85  }
86 } // namespace
87 
88 #endif
bool isImageResizeSupported(unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const override
Class representing an astract device for OpenNI devices: Primesense PSDK, Microsoft Kinect...
Definition: openni_device.h:73
void setDebayeringMethod(const ImageBayerGRBG::DebayeringMethod &debayering_method) noexcept
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
Image class containing just a reference to image meta data.
Definition: openni_image.h:59
bool isSynchronizationSupported() const override
void enumAvailableModes() noexcept
ImageBayerGRBG::DebayeringMethod debayering_method_
pcl::shared_ptr< OpenNIDevice > Ptr
Definition: openni_device.h:82
Image::Ptr getCurrentImage(pcl::shared_ptr< xn::ImageMetaData > image_meta_data) const override
This class provides methods to fill a RGB or Grayscale image buffer from underlying Bayer pattern ima...
const ImageBayerGRBG::DebayeringMethod & getDebayeringMethod() const
Driver class implemented as Singleton.
Definition: openni_driver.h:64
Concrete implementation of the interface OpenNIDevice for a MS Kinect device.
DeviceKinect(xn::Context &context, const xn::NodeInfo &device_node, const xn::NodeInfo &image_node, const xn::NodeInfo &depth_node, const xn::NodeInfo &ir_node)
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:90