/builddir/build/BUILD/pcl-pcl-1.7.1/io/include/pcl/io/pxc_grabber.h

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#include <pcl/pcl_config.h>
#define HAVE_PXCAPI
#ifdef HAVE_PXCAPI

#ifndef __PCL_IO_PXC_GRABBER__
#define __PCL_IO_PXC_GRABBER__

#include <pcl/io/eigen.h>
#include <pcl/io/boost.h>
#include <pcl/io/grabber.h>
#include <pcl/common/synchronizer.h>

#include <boost/thread.hpp>  

#include "pxcsmartptr.h"
#include "pxcsession.h"
#include "util_capture.h"
#include "util_pipeline.h"
//#include "util_pipeline_raw.h"
#include "util_render.h"
#include <util_capture.h>
#include <pxcprojection.h>
#include <pxcmetadata.h>

#include <string>
#include <deque>

namespace pcl
{
  struct PointXYZ;
  struct PointXYZRGB;
  struct PointXYZRGBA;
  struct PointXYZI;
  template <typename T> class PointCloud;


  /** \brief Grabber for PXC devices
    * \author Stefan Holzer <holzers@in.tum.de>
    * \ingroup io
    */
  class PCL_EXPORTS PXCGrabber : public Grabber
  {
    public:

      /** \brief Supported modes for grabbing from a PXC device. */
      typedef enum
      {
        PXC_Default_Mode = 0, 
      } Mode;

      //define callback signature typedefs
      typedef void (sig_cb_pxc_point_cloud) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZ> >&);
      typedef void (sig_cb_pxc_point_cloud_rgb) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGB> >&);
      typedef void (sig_cb_pxc_point_cloud_rgba) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGBA> >&);
      typedef void (sig_cb_pxc_point_cloud_i) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&);

    public:
      /** \brief Constructor */
      PXCGrabber ();

      /** \brief virtual Destructor inherited from the Grabber interface. It never throws. */
      virtual ~PXCGrabber () throw ();

      /** \brief Start the data acquisition. */
      virtual void
      start ();

      /** \brief Stop the data acquisition. */
      virtual void
      stop ();

      /** \brief Check if the data acquisition is still running. */
      virtual bool
      isRunning () const;

      /** \brief Returns the name of the grabber. */
      virtual std::string
      getName () const;

      /** \brief Obtain the number of frames per second (FPS). */
      virtual float 
      getFramesPerSecond () const;

    protected:

      /** \brief Initializes the PXC grabber and the grabbing pipeline. */
      bool
      init ();

      /** \brief Closes the grabbing pipeline. */
      void
      close ();

      /** \brief Continously asks for data from the device and publishes it if available. */
      void
      processGrabbing ();

      // signals to indicate whether new clouds are available
      boost::signals2::signal<sig_cb_pxc_point_cloud>* point_cloud_signal_;
      //boost::signals2::signal<sig_cb_fotonic_point_cloud_i>* point_cloud_i_signal_;
      boost::signals2::signal<sig_cb_pxc_point_cloud_rgb>* point_cloud_rgb_signal_;
      boost::signals2::signal<sig_cb_pxc_point_cloud_rgba>* point_cloud_rgba_signal_;

    protected:
      // utiliy object for accessing PXC camera
      UtilPipeline pp_;
      // indicates whether grabbing is running
      bool running_;

      // FPS computation
      mutable float fps_;
      mutable boost::mutex fps_mutex_;

      // thread where the grabbing takes place
      boost::thread grabber_thread_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };

} // namespace pcl
#endif // __PCL_IO_PXC_GRABBER__
#endif // HAVE_PXCAPI

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