openni2_frame_listener.h

/*
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 * Point Cloud Library (PCL) - www.pointclouds.org
 * Copyright (c) 2009-2012, Willow Garage, Inc.
 * Copyright (c) 2012-, Open Perception, Inc.
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#pragma once
 
#include <functional>
 
#include "OpenNI.h"
 
namespace pcl
{
  namespace io
  {
    namespace openni2
    {
 
      using StreamCallbackFunction = std::function<void(openni::VideoStream& stream)>;
 
      /* Each NewFrameListener may only listen to one VideoStream at a time.
      **/
      class OpenNI2FrameListener : public openni::VideoStream::NewFrameListener
      {
        public:
 
          OpenNI2FrameListener () = default;
 
          OpenNI2FrameListener (StreamCallbackFunction cb)
            : callback_(std::move(cb)) {}
 
          ~OpenNI2FrameListener () override = default;
 
          inline void
          onNewFrame (openni::VideoStream& stream) override
          {
            if (callback_)
              callback_(stream);
          }
 
          void
          setCallback (StreamCallbackFunction cb)
          {
            callback_ = std::move(cb);
          }
 
        private:
          StreamCallbackFunction callback_;
      };
 
    } // namespace
  }
}