Point Cloud Library (PCL)  1.14.1-dev
openni2_frame_listener.h
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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