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::Ptr preview_;
    int frame_counter_;
    PointCloudPtr most_recent_frame_;
    bool use_trigger_, trigger_;
    std::mutex mutex_;
};