Point Cloud Library (PCL)  1.3.1
openni_device_oni.h
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00001 /*
00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2011 Willow Garage, Inc.
00005  *    Suat Gedikli <gedikli@willowgarage.com>
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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 
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