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RSBPointCloudGrabber.h
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00001 /********************************************************************
00002 **                Image Component Library (ICL)                    **
00003 **                                                                 **
00004 ** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
00005 **                         Neuroinformatics Group                  **
00006 ** Website: www.iclcv.org and                                      **
00007 **          http://opensource.cit-ec.de/projects/icl               **
00008 **                                                                 **
00009 ** File   : ICLGeom/src/ICLGeom/RSBPointCloudGrabber.h             **
00010 ** Module : ICLGeom                                                **
00011 ** Authors: Christof Elbrechter                                    **
00012 **                                                                 **
00013 **                                                                 **
00014 ** GNU LESSER GENERAL PUBLIC LICENSE                               **
00015 ** This file may be used under the terms of the GNU Lesser General **
00016 ** Public License version 3.0 as published by the                  **
00017 **                                                                 **
00018 ** Free Software Foundation and appearing in the file LICENSE.LGPL **
00019 ** included in the packaging of this file.  Please review the      **
00020 ** following information to ensure the license requirements will   **
00021 ** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
00022 **                                                                 **
00023 ** The development of this software was supported by the           **
00024 ** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
00025 ** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
00026 ** Forschungsgemeinschaft (DFG) in the context of the German       **
00027 ** Excellence Initiative.                                          **
00028 **                                                                 **
00029 ********************************************************************/
00030 
00031 #pragma once
00032 
00033 #include <ICLUtils/CompatMacros.h>
00034 #include <ICLGeom/PointCloudGrabber.h>
00035 
00036 #if !defined(ICL_HAVE_RSB) || !defined(ICL_HAVE_PROTOBUF)
00037   #if WIN32
00038     #pragma WARNING("This header should only be included if HAVE_RSB and HAVE_PROTOBUF are defined and available in ICL")
00039   #else
00040     #warning "This header should only be included if HAVE_RSB and HAVE_PROTOBUF are defined and available in ICL"
00041   #endif
00042 #endif
00043 
00044 
00045 namespace icl{
00046   namespace geom{
00047   
00049     class ICLGeom_API RSBPointCloudGrabber : public PointCloudGrabber{
00050       
00051       struct Data;   
00052       Data *m_data;  
00053       
00054       public:
00056 
00057       RSBPointCloudGrabber(const std::string &scope="", const std::string &transportList="spread");
00058       
00060       ~RSBPointCloudGrabber();
00061       
00063       void init(const std::string &scope, const std::string &trasportList);
00064       
00066       virtual void grab(PointCloudObjectBase &dst);
00067       
00068     };
00069   } // namespace geom
00070 }
00071 
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