openni_device_xtion.h

/*
 * Software License Agreement (BSD License)
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 *  Copyright (c) 2011 Willow Garage, Inc.
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#pragma once
 
#include <pcl/pcl_config.h>
#include <pcl/memory.h>
#ifdef HAVE_OPENNI
 
#include "openni_device.h"
#include "openni_driver.h"
#include "openni_image_yuv_422.h"
 
#include <pcl/io/openni_camera/openni_image.h>
 
 
namespace openni_wrapper
{
 
  /**
   * @brief Concrete implementation of the interface OpenNIDevice for a Asus Xtion Pro device.
   * @author Suat Gedikli
   * @date 02.january 2011
   * @ingroup io
   */
  class DeviceXtionPro : public OpenNIDevice
  {
    friend class OpenNIDriver;
  public:
    DeviceXtionPro (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node);
    ~DeviceXtionPro () noexcept override;
    //virtual void setImageOutputMode (const XnMapOutputMode& output_mode);
 
  protected:
    Image::Ptr getCurrentImage (pcl::shared_ptr<xn::ImageMetaData> image_meta_data) const noexcept override;
    void enumAvailableModes () noexcept;
    bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const noexcept override;
 
    void startDepthStream () override;
  } ;
} // namespace
 
#endif