Point Cloud Library (PCL)  1.14.1-dev
openni_device_kinect.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011 Willow Garage, Inc.
5  *
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of the copyright holder(s) nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  *
35  */
36 
37 #pragma once
38 
39 #include <pcl/pcl_config.h>
40 #include <pcl/memory.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 override;
62 
63  inline void setDebayeringMethod (const ImageBayerGRBG::DebayeringMethod& debayering_method) noexcept;
64  inline const ImageBayerGRBG::DebayeringMethod& getDebayeringMethod () const noexcept;
65 
66  bool isSynchronizationSupported () const noexcept override;
67 
68  protected:
69  Image::Ptr getCurrentImage (pcl::shared_ptr<xn::ImageMetaData> image_meta_data) const noexcept override;
70  void enumAvailableModes () noexcept;
71  bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const noexcept override;
73  } ;
74 
75  void
77  {
78  debayering_method_ = debayering_method;
79  }
80 
83  {
84  return debayering_method_;
85  }
86 } // namespace
87 
88 #endif
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)
~DeviceKinect() noexcept override
bool isImageResizeSupported(unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const noexcept override
const ImageBayerGRBG::DebayeringMethod & getDebayeringMethod() const noexcept
ImageBayerGRBG::DebayeringMethod debayering_method_
Image::Ptr getCurrentImage(pcl::shared_ptr< xn::ImageMetaData > image_meta_data) const noexcept override
void enumAvailableModes() noexcept
bool isSynchronizationSupported() const noexcept override
void setDebayeringMethod(const ImageBayerGRBG::DebayeringMethod &debayering_method) noexcept
This class provides methods to fill a RGB or Grayscale image buffer from underlying Bayer pattern ima...
Image class containing just a reference to image meta data.
Definition: openni_image.h:59
Class representing an astract device for OpenNI devices: Primesense PSDK, Microsoft Kinect,...
Definition: openni_device.h:72
pcl::shared_ptr< OpenNIDevice > Ptr
Definition: openni_device.h:80
Driver class implemented as Singleton.
Definition: openni_driver.h:66
Defines functions, macros and traits for allocating and using memory.