Point Cloud Library (PCL)  1.11.1
openni_capture.h
1 #pragma once
2 
3 #include "typedefs.h"
4 
5 #include <pcl/io/openni_grabber.h>
6 #include <pcl/visualization/pcl_visualizer.h>
7 
8 /* A simple class for capturing data from an OpenNI camera */
9 class OpenNICapture
10 {
11  public:
12  OpenNICapture (const std::string& device_id = "");
14 
15  void setTriggerMode (bool use_trigger);
16  const PointCloudPtr snap ();
17  const PointCloudPtr snapAndSave (const std::string & filename);
18 
19  protected:
20  void onNewFrame (const PointCloudConstPtr &cloud);
22 
23  void waitForTrigger ();
24 
27  int frame_counter_;
28  PointCloudPtr most_recent_frame_;
29  bool use_trigger_, trigger_;
30  std::mutex mutex_;
31 };
OpenNICapture::~OpenNICapture
~OpenNICapture()
OpenNICapture::snapAndSave
const PointCloudPtr snapAndSave(const std::string &filename)
OpenNICapture::frame_counter_
int frame_counter_
Definition: openni_capture.h:29
OpenNICapture::waitForTrigger
void waitForTrigger()
OpenNICapture::mutex_
std::mutex mutex_
Definition: openni_capture.h:32
OpenNICapture::use_trigger_
bool use_trigger_
Definition: openni_capture.h:31
OpenNICapture::most_recent_frame_
PointCloudPtr most_recent_frame_
Definition: openni_capture.h:30
OpenNICapture::trigger_
bool trigger_
Definition: openni_capture.h:31
OpenNICapture::snap
const PointCloudPtr snap()
pcl::visualization::PCLVisualizer::Ptr
shared_ptr< PCLVisualizer > Ptr
Definition: pcl_visualizer.h:89
OpenNICapture::setTriggerMode
void setTriggerMode(bool use_trigger)
OpenNICapture::onNewFrame
void onNewFrame(const PointCloudConstPtr &cloud)
OpenNICapture::onKeyboardEvent
void onKeyboardEvent(const pcl::visualization::KeyboardEvent &event)
OpenNICapture::OpenNICapture
OpenNICapture(const std::string &device_id="")
pcl::OpenNIGrabber
Grabber for OpenNI devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live)
Definition: openni_grabber.h:72
OpenNICapture::preview_
pcl::visualization::PCLVisualizer::Ptr preview_
Definition: openni_capture.h:28
OpenNICapture::grabber_
pcl::OpenNIGrabber grabber_
Definition: openni_capture.h:27
pcl::visualization::KeyboardEvent
/brief Class representing key hit/release events
Definition: keyboard_event.h:49
OpenNICapture
Definition: openni_capture.h:12