Point Cloud Library (PCL) 1.12.0
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#include <mutex>
9
10/* A simple class for capturing data from an OpenNI camera */
11class OpenNICapture
12{
13public:
14 OpenNICapture (const std::string& device_id = "");
16
17 void setTriggerMode (bool use_trigger);
18 const PointCloudPtr snap ();
19 const PointCloudPtr snapAndSave (const std::string & filename);
20
21protected:
22 void onNewFrame (const PointCloudConstPtr &cloud);
24
26
30 PointCloudPtr most_recent_frame_;
32 std::mutex mutex_;
33};
pcl::OpenNIGrabber grabber_
void onKeyboardEvent(const pcl::visualization::KeyboardEvent &event)
pcl::visualization::PCLVisualizer * preview_
const PointCloudPtr snap()
void waitForTrigger()
PointCloudPtr most_recent_frame_
OpenNICapture(const std::string &device_id="")
void setTriggerMode(bool use_trigger)
void onNewFrame(const PointCloudConstPtr &cloud)
const PointCloudPtr snapAndSave(const std::string &filename)
std::mutex mutex_
Grabber for OpenNI devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live)
/brief Class representing key hit/release events
PCL Visualizer main class.