Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011 Willow Garage, Inc. 00005 * Suat Gedikli <gedikli@willowgarage.com> 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 */ 00037 00038 #include <pcl/pcl_config.h> 00039 #ifdef HAVE_OPENNI 00040 00041 #ifndef OPENNI_OPENNI_H_ 00042 #define OPENNI_OPENNI_H_ 00043 #include <string> 00044 #include <vector> 00045 #include <map> 00046 #include "openni_exception.h" 00047 #include "openni_device.h" 00048 #include <boost/shared_ptr.hpp> 00049 #include <boost/weak_ptr.hpp> 00050 #include <XnCppWrapper.h> 00051 00052 #include <pcl/pcl_macros.h> 00053 00054 namespace openni_wrapper 00055 { 00056 //class OpenNIDevice; 00064 class PCL_EXPORTS OpenNIDriver 00065 { 00066 public: 00067 ~OpenNIDriver () throw (); 00068 00069 inline static OpenNIDriver& getInstance (); 00070 unsigned updateDeviceList (); 00071 inline unsigned getNumberDevices () const throw (); 00072 00073 boost::shared_ptr<OpenNIDevice> createVirtualDevice (const std::string& path, bool repeat, bool stream) const; 00074 boost::shared_ptr<OpenNIDevice> getDeviceByIndex (unsigned index) const; 00075 #ifndef _WIN32 00076 boost::shared_ptr<OpenNIDevice> getDeviceBySerialNumber (const std::string& serial_number) const; 00077 boost::shared_ptr<OpenNIDevice> getDeviceByAddress (unsigned char bus, unsigned char address) const; 00078 #endif 00079 00080 const char* getSerialNumber (unsigned index) const throw (); 00082 const char* getConnectionString (unsigned index) const throw (); 00083 00084 const char* getVendorName (unsigned index) const throw (); 00085 const char* getProductName (unsigned index) const throw (); 00086 unsigned short getVendorID (unsigned index) const throw (); 00087 unsigned short getProductID (unsigned index) const throw (); 00088 unsigned char getBus (unsigned index) const throw (); 00089 unsigned char getAddress (unsigned index) const throw (); 00090 00091 void stopAll (); 00092 00093 static void getDeviceType (const std::string& connection_string, unsigned short& vendorId, unsigned short& productId); 00094 protected: 00095 struct DeviceContext 00096 { 00097 DeviceContext (const xn::NodeInfo& device_node, xn::NodeInfo* image_node, xn::NodeInfo* depth_node, xn::NodeInfo* ir_node); 00098 DeviceContext (const xn::NodeInfo& device_node); 00099 DeviceContext (const DeviceContext&); 00100 xn::NodeInfo device_node; 00101 boost::shared_ptr<xn::NodeInfo> image_node; 00102 boost::shared_ptr<xn::NodeInfo> depth_node; 00103 boost::shared_ptr<xn::NodeInfo> ir_node; 00104 boost::weak_ptr<OpenNIDevice> device; 00105 }; 00106 00107 OpenNIDriver (); 00108 boost::shared_ptr<OpenNIDevice> getDevice (unsigned index) const; 00109 00110 #ifndef _WIN32 00111 // workaround to get additional device nformation like serial number, vendor and product name, until Primesense fix this 00112 void getDeviceInfos () throw (); 00113 #endif 00114 00115 mutable std::vector<DeviceContext> device_context_; 00116 mutable xn::Context context_; 00117 00118 std::map< unsigned char, std::map<unsigned char, unsigned > > bus_map_; 00119 std::map< std::string, unsigned > serial_map_; 00120 std::map< std::string, unsigned > connection_string_map_; 00121 }; 00122 00123 OpenNIDriver& OpenNIDriver::getInstance () 00124 { 00125 static OpenNIDriver driver; 00126 return driver; 00127 } 00128 00129 unsigned OpenNIDriver::getNumberDevices () const throw () 00130 { 00131 return (unsigned)device_context_.size (); 00132 } 00133 } // namespace 00134 #endif 00135 #endif