openni_device_kinect.h

/*
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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_bayer_grbg.h"
 
namespace openni_wrapper
{
 
  /**
   * @brief Concrete implementation of the interface OpenNIDevice for a MS Kinect device.
   * @author Suat Gedikli
   * @date 02.january 2011
   * @ingroup io
   */
  class DeviceKinect : public OpenNIDevice
  {
    friend class OpenNIDriver;
  public:
    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;
 
    inline void setDebayeringMethod (const ImageBayerGRBG::DebayeringMethod& debayering_method) noexcept;
    inline const ImageBayerGRBG::DebayeringMethod& getDebayeringMethod () const throw ();
 
    bool isSynchronizationSupported () const throw () override;
 
  protected:
    Image::Ptr getCurrentImage (pcl::shared_ptr<xn::ImageMetaData> image_meta_data) const throw () override;
    void enumAvailableModes () noexcept;
    bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw () override;
    ImageBayerGRBG::DebayeringMethod debayering_method_;
  } ;
 
  void
  DeviceKinect::setDebayeringMethod (const ImageBayerGRBG::DebayeringMethod& debayering_method) noexcept
  {
    debayering_method_ = debayering_method;
  }
 
  const ImageBayerGRBG::DebayeringMethod&
  DeviceKinect::getDebayeringMethod () const throw ()
  {
    return debayering_method_;
  }
} // namespace
 
#endif