Point Cloud Library (PCL)  1.9.1
openni_device_oni.h
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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 
virtual boost::shared_ptr< Image > getCurrentImage(boost::shared_ptr< xn::ImageMetaData > image_meta_data) const
Concrete implementation of the interface OpenNIDevice for a virtual device playing back an ONI file.
Class representing an astract device for OpenNI devices: Primesense PSDK, Microsoft Kinect,...
Definition: openni_device.h:69
virtual bool isDepthStreamRunning() const
virtual void startDepthStream()
starts the depth stream.
static void __stdcall NewONIIRDataAvailable(xn::ProductionNode &node, void *cookie)
virtual void startIRStream()
starts the IR stream.
boost::condition_variable player_condition_
static void __stdcall NewONIDepthDataAvailable(xn::ProductionNode &node, void *cookie)
virtual bool isIRStreamRunning() const
virtual void stopIRStream()
stops the IR stream.
virtual bool isImageResizeSupported(unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const
virtual void stopDepthStream()
stops the depth stream.
virtual void startImageStream()
starts the image stream.
virtual void stopImageStream()
stops the image stream.
bool hasDataLeft()
Check if there is any data left in the ONI file to process.
Driver class implemented as Singleton.
Definition: openni_driver.h:62
DeviceONI(xn::Context &context, const std::string &file_name, bool repeat=false, bool streaming=true)
virtual bool isImageStreamRunning() const
bool trigger(int relative_offset=0)
Trigger a new frame in the ONI stream.
static void __stdcall NewONIImageDataAvailable(xn::ProductionNode &node, void *cookie)