Point Cloud Library (PCL)  1.9.1-dev
openni_device_oni.h
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36 
37 #pragma once
38 
39 #include <pcl/pcl_config.h>
40 #ifdef HAVE_OPENNI
41 
42 #include "openni_device.h"
43 #include "openni_driver.h"
44 
45 #include <condition_variable>
46 #include <mutex>
47 
48 namespace openni_wrapper
49 {
50 
51  /**
52  * @brief Concrete implementation of the interface OpenNIDevice for a virtual device playing back an ONI file.
53  * @author Suat Gedikli
54  * @date 19. june 2011
55  * @ingroup io
56  */
57  class DeviceONI : public OpenNIDevice
58  {
59  friend class OpenNIDriver;
60  public:
61  DeviceONI (xn::Context& context, const std::string& file_name, bool repeat = false, bool streaming = true);
62  ~DeviceONI () throw ();
63 
64  void startImageStream () override;
65  void stopImageStream () override;
66 
67  void startDepthStream () override;
68  void stopDepthStream () override;
69 
70  void startIRStream () override;
71  void stopIRStream () override;
72 
73  bool isImageStreamRunning () const throw () override;
74  bool isDepthStreamRunning () const throw () override;
75  bool isIRStreamRunning () const throw () override;
76 
77  bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw () override;
78 
79  /** \brief Trigger a new frame in the ONI stream.
80  * \param[in] relative_offset the relative offset in case we want to seek in the file
81  */
82  bool
83  trigger (int relative_offset = 0);
84 
85  bool isStreaming () const throw ();
86 
87  /** \brief Check if there is any data left in the ONI file to process. */
88  inline bool
90  {
91  return (!player_.IsEOF ());
92  }
93 
94  protected:
95  boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw () override;
96 
97  void PlayerThreadFunction ();
98  static void __stdcall NewONIDepthDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
99  static void __stdcall NewONIImageDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
100  static void __stdcall NewONIIRDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
101 
102  xn::Player player_;
103  std::thread player_thread_;
104  mutable std::mutex player_mutex_;
105  std::condition_variable player_condition_;
110  };
111 } //namespace openni_wrapper
112 #endif //HAVE_OPENNI
void startDepthStream() override
starts the depth stream.
void startIRStream() override
starts the IR stream.
Concrete implementation of the interface OpenNIDevice for a virtual device playing back an ONI file...
bool isImageStreamRunning() const override
Class representing an astract device for OpenNI devices: Primesense PSDK, Microsoft Kinect...
Definition: openni_device.h:72
static void __stdcall NewONIIRDataAvailable(xn::ProductionNode &node, void *cookie)
bool isDepthStreamRunning() const override
static void __stdcall NewONIDepthDataAvailable(xn::ProductionNode &node, void *cookie)
void stopIRStream() override
stops the IR stream.
bool isIRStreamRunning() const override
std::condition_variable player_condition_
void startImageStream() override
starts the image stream.
void stopDepthStream() override
stops the depth stream.
bool isImageResizeSupported(unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const override
void stopImageStream() override
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)
boost::shared_ptr< Image > getCurrentImage(boost::shared_ptr< xn::ImageMetaData > image_meta_data) const override
bool trigger(int relative_offset=0)
Trigger a new frame in the ONI stream.
static void __stdcall NewONIImageDataAvailable(xn::ProductionNode &node, void *cookie)