openni_capture.h

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#ifndef OPENNI_CAPTURE_H
#define OPENNI_CAPTURE_H

#include "typedefs.h"

#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/pcl_visualizer.h>

/* A simple class for capturing data from an OpenNI camera */
class OpenNICapture
{
public:
  OpenNICapture (const std::string& device_id = "");
  ~OpenNICapture ();
  
  void setTriggerMode (bool use_trigger);
  const PointCloudPtr snap ();
  const PointCloudPtr snapAndSave (const std::string & filename);

protected:
  void onNewFrame (const PointCloudConstPtr &cloud);
  void onKeyboardEvent (const pcl::visualization::KeyboardEvent & event);

  void waitForTrigger ();

  pcl::OpenNIGrabber grabber_;
  pcl::visualization::PCLVisualizer *preview_;
  int frame_counter_;
  PointCloudPtr most_recent_frame_;
  bool use_trigger_, trigger_;
  boost::mutex mutex_;
};

#endif