Point Cloud Library (PCL)  1.14.0-dev
openni2_frame_listener.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2009-2012, Willow Garage, Inc.
6  * Copyright (c) 2012-, Open Perception, Inc.
7  *
8  * All rights reserved.
9  *
10  * Redistribution and use in source and binary forms, with or without
11  * modification, are permitted provided that the following conditions
12  * are met:
13  *
14  * * Redistributions of source code must retain the above copyright
15  * notice, this list of conditions and the following disclaimer.
16  * * Redistributions in binary form must reproduce the above
17  * copyright notice, this list of conditions and the following
18  * disclaimer in the documentation and/or other materials provided
19  * with the distribution.
20  * * Neither the name of the copyright holder(s) nor the names of its
21  * contributors may be used to endorse or promote products derived
22  * from this software without specific prior written permission.
23  *
24  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35  * POSSIBILITY OF SUCH DAMAGE.
36  */
37 
38 #pragma once
39 
40 #include <functional>
41 
42 #include "OpenNI.h"
43 
44 namespace pcl
45 {
46  namespace io
47  {
48  namespace openni2
49  {
50 
51  using StreamCallbackFunction = std::function<void(openni::VideoStream& stream)>;
52 
53  /* Each NewFrameListener may only listen to one VideoStream at a time.
54  **/
55  class OpenNI2FrameListener : public openni::VideoStream::NewFrameListener
56  {
57  public:
58 
59  OpenNI2FrameListener () = default;
60 
62  : callback_(std::move(cb)) {}
63 
64  ~OpenNI2FrameListener () override = default;
65 
66  inline void
67  onNewFrame (openni::VideoStream& stream) override
68  {
69  if (callback_)
70  callback_(stream);
71  }
72 
73  void
75  {
76  callback_ = std::move(cb);
77  }
78 
79  private:
80  StreamCallbackFunction callback_;
81  };
82 
83  } // namespace
84  }
85 }
OpenNI2FrameListener(StreamCallbackFunction cb)
void onNewFrame(openni::VideoStream &stream) override
void setCallback(StreamCallbackFunction cb)
std::function< void(openni::VideoStream &stream)> StreamCallbackFunction