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_DEVICE_ONI__ 00042 #define __OPENNI_DEVICE_ONI__ 00043 00044 #include "openni_device.h" 00045 #include "openni_driver.h" 00046 00047 namespace openni_wrapper 00048 { 00049 00056 class DeviceONI : public OpenNIDevice 00057 { 00058 friend class OpenNIDriver; 00059 public: 00060 DeviceONI (xn::Context& context, const std::string& file_name, bool repeat = false, bool streaming = true); 00061 virtual ~DeviceONI () throw (); 00062 00063 virtual void startImageStream (); 00064 virtual void stopImageStream (); 00065 00066 virtual void startDepthStream (); 00067 virtual void stopDepthStream (); 00068 00069 virtual void startIRStream (); 00070 virtual void stopIRStream (); 00071 00072 virtual bool isImageStreamRunning () const throw (); 00073 virtual bool isDepthStreamRunning () const throw (); 00074 virtual bool isIRStreamRunning () const throw (); 00075 00076 virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw (); 00077 00078 bool trigger (); 00079 bool isStreaming () const throw (); 00080 protected: 00081 virtual boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw (); 00082 00083 void PlayerThreadFunction (); 00084 static void __stdcall NewONIDepthDataAvailable (xn::ProductionNode& node, void* cookie) throw (); 00085 static void __stdcall NewONIImageDataAvailable (xn::ProductionNode& node, void* cookie) throw (); 00086 static void __stdcall NewONIIRDataAvailable (xn::ProductionNode& node, void* cookie) throw (); 00087 00088 xn::Player player_; 00089 boost::thread player_thread_; 00090 mutable boost::mutex player_mutex_; 00091 boost::condition_variable player_condition_; 00092 bool streaming_; 00093 bool depth_stream_running_; 00094 bool image_stream_running_; 00095 bool ir_stream_running_; 00096 }; 00097 00098 } //namespace openni_wrapper 00099 #endif //__OPENNI_DEVICE_ONI__ 00100 #endif //HAVE_OPENNI 00101