Point Cloud Library (PCL)  1.9.1
openni_device_oni.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011 Willow Garage, Inc.
5  *
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of the copyright holder(s) nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  *
35  */
36 
37 #include <pcl/pcl_config.h>
38 #ifdef HAVE_OPENNI
39 
40 #ifndef __OPENNI_DEVICE_ONI__
41 #define __OPENNI_DEVICE_ONI__
42 
43 #include "openni_device.h"
44 #include "openni_driver.h"
45 
46 namespace openni_wrapper
47 {
48 
49  /**
50  * @brief Concrete implementation of the interface OpenNIDevice for a virtual device playing back an ONI file.
51  * @author Suat Gedikli
52  * @date 19. june 2011
53  * @ingroup io
54  */
55  class DeviceONI : public OpenNIDevice
56  {
57  friend class OpenNIDriver;
58  public:
59  DeviceONI (xn::Context& context, const std::string& file_name, bool repeat = false, bool streaming = true);
60  virtual ~DeviceONI () throw ();
61 
62  virtual void startImageStream ();
63  virtual void stopImageStream ();
64 
65  virtual void startDepthStream ();
66  virtual void stopDepthStream ();
67 
68  virtual void startIRStream ();
69  virtual void stopIRStream ();
70 
71  virtual bool isImageStreamRunning () const throw ();
72  virtual bool isDepthStreamRunning () const throw ();
73  virtual bool isIRStreamRunning () const throw ();
74 
75  virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ();
76 
77  /** \brief Trigger a new frame in the ONI stream.
78  * \param[in] relative_offset the relative offset in case we want to seek in the file
79  */
80  bool
81  trigger (int relative_offset = 0);
82 
83  bool isStreaming () const throw ();
84 
85  /** \brief Check if there is any data left in the ONI file to process. */
86  inline bool
88  {
89  return (!player_.IsEOF ());
90  }
91 
92  protected:
93  virtual boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ();
94 
95  void PlayerThreadFunction ();
96  static void __stdcall NewONIDepthDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
97  static void __stdcall NewONIImageDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
98  static void __stdcall NewONIIRDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
99 
100  xn::Player player_;
101  boost::thread player_thread_;
102  mutable boost::mutex player_mutex_;
103  boost::condition_variable player_condition_;
108  };
109 } //namespace openni_wrapper
110 #endif //__OPENNI_DEVICE_ONI__
111 #endif //HAVE_OPENNI
112 
openni_wrapper::DeviceONI::depth_stream_running_
bool depth_stream_running_
Definition: openni_device_oni.h:105
openni_wrapper::OpenNIDriver
Driver class implemented as Singleton.
Definition: openni_driver.h:62
openni_wrapper::DeviceONI::isImageResizeSupported
virtual bool isImageResizeSupported(unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const
openni_wrapper::DeviceONI::isIRStreamRunning
virtual bool isIRStreamRunning() const
openni_wrapper::DeviceONI::isImageStreamRunning
virtual bool isImageStreamRunning() const
openni_wrapper::DeviceONI::DeviceONI
DeviceONI(xn::Context &context, const std::string &file_name, bool repeat=false, bool streaming=true)
openni_wrapper::DeviceONI::PlayerThreadFunction
void PlayerThreadFunction()
openni_wrapper::DeviceONI::NewONIIRDataAvailable
static void __stdcall NewONIIRDataAvailable(xn::ProductionNode &node, void *cookie)
openni_wrapper::DeviceONI::stopImageStream
virtual void stopImageStream()
stops the image stream.
openni_wrapper
Definition: openni_depth_image.h:51
openni_wrapper::DeviceONI::player_mutex_
boost::mutex player_mutex_
Definition: openni_device_oni.h:102
openni_wrapper::DeviceONI::image_stream_running_
bool image_stream_running_
Definition: openni_device_oni.h:106
openni_wrapper::DeviceONI::isStreaming
bool isStreaming() const
openni_wrapper::DeviceONI::player_condition_
boost::condition_variable player_condition_
Definition: openni_device_oni.h:103
openni_wrapper::DeviceONI::ir_stream_running_
bool ir_stream_running_
Definition: openni_device_oni.h:107
openni_wrapper::DeviceONI::startIRStream
virtual void startIRStream()
starts the IR stream.
openni_wrapper::DeviceONI::startImageStream
virtual void startImageStream()
starts the image stream.
openni_wrapper::DeviceONI::isDepthStreamRunning
virtual bool isDepthStreamRunning() const
openni_wrapper::DeviceONI::startDepthStream
virtual void startDepthStream()
starts the depth stream.
openni_wrapper::DeviceONI::NewONIImageDataAvailable
static void __stdcall NewONIImageDataAvailable(xn::ProductionNode &node, void *cookie)
openni_wrapper::DeviceONI::hasDataLeft
bool hasDataLeft()
Check if there is any data left in the ONI file to process.
Definition: openni_device_oni.h:87
openni_wrapper::DeviceONI::player_
xn::Player player_
Definition: openni_device_oni.h:100
openni_wrapper::DeviceONI::trigger
bool trigger(int relative_offset=0)
Trigger a new frame in the ONI stream.
openni_wrapper::DeviceONI
Concrete implementation of the interface OpenNIDevice for a virtual device playing back an ONI file.
Definition: openni_device_oni.h:55
openni_wrapper::DeviceONI::player_thread_
boost::thread player_thread_
Definition: openni_device_oni.h:101
openni_wrapper::DeviceONI::~DeviceONI
virtual ~DeviceONI()
openni_wrapper::DeviceONI::getCurrentImage
virtual boost::shared_ptr< Image > getCurrentImage(boost::shared_ptr< xn::ImageMetaData > image_meta_data) const
openni_wrapper::DeviceONI::stopDepthStream
virtual void stopDepthStream()
stops the depth stream.
openni_wrapper::OpenNIDevice
Class representing an astract device for OpenNI devices: Primesense PSDK, Microsoft Kinect,...
Definition: openni_device.h:69
openni_wrapper::DeviceONI::stopIRStream
virtual void stopIRStream()
stops the IR stream.
openni_wrapper::DeviceONI::streaming_
bool streaming_
Definition: openni_device_oni.h:104
openni_wrapper::DeviceONI::NewONIDepthDataAvailable
static void __stdcall NewONIDepthDataAvailable(xn::ProductionNode &node, void *cookie)