Point Cloud Library (PCL)  1.8.1
openni2_frame_listener.h
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37 
38 #ifndef PCL_IO_OPENNI2_FRAME_LISTENER_H_
39 #define PCL_IO_OPENNI2_FRAME_LISTENER_H_
40 
41 #include <boost/function.hpp>
42 
43 #include "OpenNI.h"
44 
45 namespace pcl
46 {
47  namespace io
48  {
49  namespace openni2
50  {
51 
52  typedef boost::function<void(openni::VideoStream& stream)> StreamCallbackFunction;
53 
54  /* Each NewFrameListener may only listen to one VideoStream at a time.
55  **/
56  class OpenNI2FrameListener : public openni::VideoStream::NewFrameListener
57  {
58  public:
59 
61  : callback_(0) {}
62  OpenNI2FrameListener (StreamCallbackFunction cb)
63  : callback_(cb) {}
64 
66  { };
67 
68  inline void
69  onNewFrame (openni::VideoStream& stream)
70  {
71  if (callback_)
72  callback_(stream);
73  }
74 
75  void
76  setCallback (StreamCallbackFunction cb)
77  {
78  callback_ = cb;
79  }
80 
81  private:
82  StreamCallbackFunction callback_;
83  };
84 
85  } // namespace
86  }
87 }
88 
89 #endif // PCL_IO_OPENNI2_FRAME_LISTENER_H_
boost::function< void(openni::VideoStream &stream)> StreamCallbackFunction
void onNewFrame(openni::VideoStream &stream)
OpenNI2FrameListener(StreamCallbackFunction cb)
void setCallback(StreamCallbackFunction cb)