Point Cloud Library (PCL)  1.9.1
openni_capture.h
1 #ifndef OPENNI_CAPTURE_H
2 #define OPENNI_CAPTURE_H
3 
4 #include "typedefs.h"
5 
6 #include <pcl/io/openni_grabber.h>
7 #include <pcl/visualization/pcl_visualizer.h>
8 
9 /* A simple class for capturing data from an OpenNI camera */
10 class OpenNICapture
11 {
12  public:
13  OpenNICapture (const std::string& device_id = "");
14  ~OpenNICapture ();
15 
16  void setTriggerMode (bool use_trigger);
17  const PointCloudPtr snap ();
18  const PointCloudPtr snapAndSave (const std::string & filename);
19 
20  protected:
21  void onNewFrame (const PointCloudConstPtr &cloud);
23 
24  void waitForTrigger ();
25 
27  boost::shared_ptr<pcl::visualization::PCLVisualizer> preview_;
28  int frame_counter_;
29  PointCloudPtr most_recent_frame_;
30  bool use_trigger_, trigger_;
31  boost::mutex mutex_;
32 };
33 
34 #endif
OpenNICapture::~OpenNICapture
~OpenNICapture()
OpenNICapture::mutex_
boost::mutex mutex_
Definition: openni_capture.h:31
OpenNICapture::snapAndSave
const PointCloudPtr snapAndSave(const std::string &filename)
OpenNICapture::frame_counter_
int frame_counter_
Definition: openni_capture.h:28
OpenNICapture::waitForTrigger
void waitForTrigger()
OpenNICapture::use_trigger_
bool use_trigger_
Definition: openni_capture.h:30
OpenNICapture::most_recent_frame_
PointCloudPtr most_recent_frame_
Definition: openni_capture.h:29
OpenNICapture::trigger_
bool trigger_
Definition: openni_capture.h:30
OpenNICapture::snap
const PointCloudPtr snap()
OpenNICapture::setTriggerMode
void setTriggerMode(bool use_trigger)
OpenNICapture::onNewFrame
void onNewFrame(const PointCloudConstPtr &cloud)
OpenNICapture::onKeyboardEvent
void onKeyboardEvent(const pcl::visualization::KeyboardEvent &event)
OpenNICapture::OpenNICapture
OpenNICapture(const std::string &device_id="")
pcl::OpenNIGrabber
Grabber for OpenNI devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live)
Definition: openni_grabber.h:69
OpenNICapture::grabber_
pcl::OpenNIGrabber grabber_
Definition: openni_capture.h:26
pcl::visualization::KeyboardEvent
/brief Class representing key hit/release events
Definition: keyboard_event.h:49
OpenNICapture::preview_
boost::shared_ptr< pcl::visualization::PCLVisualizer > preview_
Definition: openni_capture.h:27
OpenNICapture
Definition: openni_capture.h:10