openni_device_xtion.h

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#include <pcl/pcl_config.h>
#ifdef HAVE_OPENNI

#ifndef __OPENNI_DEVICE_XTION_PRO__
#define __OPENNI_DEVICE_XTION_PRO__

#include "openni_device.h"
#include "openni_driver.h"
#include "openni_image_yuv_422.h"

namespace openni_wrapper
{

  class DeviceXtionPro : public OpenNIDevice
  {
    friend class OpenNIDriver;
  public:
    DeviceXtionPro (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node);
    virtual ~DeviceXtionPro () throw ();
    //virtual void setImageOutputMode (const XnMapOutputMode& output_mode);

  protected:
    virtual boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ();
    void enumAvailableModes () throw ();
    virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ();

    virtual void startDepthStream ();
  } ;
} // namespace

#endif
#endif // __OPENNI_DEVICE_PRIMESENSE__