Point Cloud Library (PCL) 1.13.1
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openni2_frame_listener.h
1/*
2 * Software License Agreement (BSD License)
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4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2009-2012, Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
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36 */
37
38#pragma once
39
40#include <functional>
41
42#include "OpenNI.h"
43
44namespace pcl
45{
46 namespace io
47 {
48 namespace openni2
49 {
50
51 using StreamCallbackFunction = std::function<void(openni::VideoStream& stream)>;
52
53 /* Each NewFrameListener may only listen to one VideoStream at a time.
54 **/
55 class OpenNI2FrameListener : public openni::VideoStream::NewFrameListener
56 {
57 public:
58
60
62 : callback_(std::move(cb)) {}
63
64 ~OpenNI2FrameListener () override = default;
65
66 inline void
67 onNewFrame (openni::VideoStream& stream) override
68 {
69 if (callback_)
70 callback_(stream);
71 }
72
73 void
75 {
76 callback_ = std::move(cb);
77 }
78
79 private:
80 StreamCallbackFunction callback_;
81 };
82
83 } // namespace
84 }
85}
OpenNI2FrameListener(StreamCallbackFunction cb)
void onNewFrame(openni::VideoStream &stream) override
void setCallback(StreamCallbackFunction cb)
std::function< void(openni::VideoStream &stream)> StreamCallbackFunction