Point Cloud Library (PCL)  1.3.1
openni_device_xtion.h
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00001 /*
00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2011 Willow Garage, Inc.
00005  *    Suat Gedikli <gedikli@willowgarage.com>
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00037 
00038 #include <pcl/pcl_config.h>
00039 #ifdef HAVE_OPENNI
00040 
00041 #ifndef __OPENNI_DEVICE_XTION_PRO__
00042 #define __OPENNI_DEVICE_XTION_PRO__
00043 
00044 #include "openni_device.h"
00045 #include "openni_driver.h"
00046 #include "openni_image_yuv_422.h"
00047 
00048 namespace openni_wrapper
00049 {
00056 class DeviceXtionPro : public OpenNIDevice
00057 {
00058   friend class OpenNIDriver;
00059 public:
00060   DeviceXtionPro (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node);
00061   virtual ~DeviceXtionPro () throw ();
00062   //virtual void setImageOutputMode (const XnMapOutputMode& output_mode);
00063 
00064 protected:
00065   virtual boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ();
00066   void enumAvailableModes () throw ();
00067   virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ();
00068 
00069   virtual void startDepthStream ();
00070 };
00071 } // namespace
00072 
00073 #endif
00074 #endif // __OPENNI_DEVICE_PRIMESENSE__
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