kfusion/interface_openni2.hpp at master · seichter/kfusion · GitHub

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#ifndef KFUSION_INTERFACE_OPENNI2
#define KFUSION_INTERFACE_OPENNI2

#include <openni2/OpenNI.h>
// #include <pthread.h>

#include "interface.h"

#include <thread>

class OpenNIDevice : public RGBD {

    openni::Device device;
    openni::VideoStream depth_stream;
    openni::VideoStream color_stream;

    bool gotDepth;

	std::thread capture_thread;

    bool die;

    // RGBD interface
public:

    OpenNIDevice();

    int open();
    bool available() const { return true; }
    int update();
    void close();

    bool stopped() const { return this->die; }

    void setDirty(bool isDirty) { gotDepth = isDirty; }
    bool dirty() const { return gotDepth; }


    void setDepthBuffer();

    openni::VideoStream& getDepthStream();

    virtual ~OpenNIDevice() {}
};

#endif