Point Cloud Library (PCL)  1.12.1-dev
oni_grabber.h
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37 
38 #pragma once
39 
40 #include <pcl/memory.h>
41 #include <pcl/pcl_config.h>
42 #include <pcl/pcl_macros.h>
43 
44 #ifdef HAVE_OPENNI
45 
46 #include <pcl/point_cloud.h>
47 #include <pcl/io/grabber.h>
48 #include <pcl/io/openni_camera/openni_driver.h>
49 #include <pcl/io/openni_camera/openni_device_oni.h>
50 #include <pcl/io/openni_camera/openni_image.h>
51 #include <pcl/io/openni_camera/openni_depth_image.h>
52 #include <pcl/io/openni_camera/openni_ir_image.h>
53 #include <string>
54 #include <pcl/common/synchronizer.h>
55 
56 namespace pcl
57 {
58  struct PointXYZ;
59  struct PointXYZRGB;
60  struct PointXYZRGBA;
61  struct PointXYZI;
62 
63  /** \brief A simple ONI grabber.
64  * \author Suat Gedikli
65  * \ingroup io
66  */
68  {
69  public:
70  //define callback signature typedefs
80 
81  /** \brief constructor
82  * \param[in] file_name the path to the ONI file
83  * \param[in] repeat whether the play back should be in an infinite loop or not
84  * \param[in] stream whether the playback should be in streaming mode or in triggered mode.
85  */
86  ONIGrabber (const std::string& file_name, bool repeat, bool stream);
87 
88  /** \brief destructor never throws an exception */
89  ~ONIGrabber () noexcept override;
90 
91  /** \brief For devices that are streaming, the streams are started by calling this method.
92  * Trigger-based devices, just trigger the device once for each call of start.
93  */
94  void
95  start () override;
96 
97  /** \brief For devices that are streaming, the streams are stopped.
98  * This method has no effect for triggered devices.
99  */
100  void
101  stop () override;
102 
103  /** \brief returns the name of the concrete subclass.
104  * \return the name of the concrete driver.
105  */
106  std::string
107  getName () const override;
108 
109  /** \brief Indicates whether the grabber is streaming or not. This value is not defined for triggered devices.
110  * \return true if grabber is running / streaming. False otherwise.
111  */
112  bool
113  isRunning () const override;
114 
115  /** \brief returns the frames pre second. 0 if it is trigger based. */
116  float
117  getFramesPerSecond () const override;
118 
119  /** \brief Check if there is any data left in the ONI file to process. */
120  inline bool
121  hasDataLeft ()
122  {
123  return (device_->hasDataLeft ());
124  }
125 
126  protected:
127  /** \brief internal OpenNI (openni_wrapper) callback that handles image streams */
128  void
130 
131  /** \brief internal OpenNI (openni_wrapper) callback that handles depth streams */
132  void
133  depthCallback (openni_wrapper::DepthImage::Ptr depth_image, void* cookie);
134 
135  /** \brief internal OpenNI (openni_wrapper) callback that handles IR streams */
136  void
137  irCallback (openni_wrapper::IRImage::Ptr ir_image, void* cookie);
138 
139  /** \brief internal callback that handles synchronized image + depth streams */
140  void
142  const openni_wrapper::DepthImage::Ptr &depth_image);
143 
144  /** \brief internal callback that handles synchronized IR + depth streams */
145  void
147  const openni_wrapper::DepthImage::Ptr &depth_image);
148 
149  /** \brief internal method to assemble a point cloud object */
152 
153  /** \brief internal method to assemble a point cloud object */
156  const openni_wrapper::DepthImage::Ptr &depth_image) const;
157 
158  /** \brief internal method to assemble a point cloud object */
161  const openni_wrapper::DepthImage::Ptr &depth_image) const;
162 
163  /** \brief internal method to assemble a point cloud object */
166  const openni_wrapper::DepthImage::Ptr &depth_image) const;
167 
168  /** \brief synchronizer object to synchronize image and depth streams*/
170 
171  /** \brief synchronizer object to synchronize IR and depth streams*/
173 
174  /** \brief the actual openni device*/
176  std::string rgb_frame_id_;
177  std::string depth_frame_id_;
178  bool running_;
179  unsigned image_width_;
180  unsigned image_height_;
181  unsigned depth_width_;
182  unsigned depth_height_;
186  boost::signals2::signal<sig_cb_openni_image >* image_signal_;
187  boost::signals2::signal<sig_cb_openni_depth_image >* depth_image_signal_;
188  boost::signals2::signal<sig_cb_openni_ir_image >* ir_image_signal_;
189  boost::signals2::signal<sig_cb_openni_image_depth_image>* image_depth_image_signal_;
190  boost::signals2::signal<sig_cb_openni_ir_depth_image>* ir_depth_image_signal_;
191  boost::signals2::signal<sig_cb_openni_point_cloud >* point_cloud_signal_;
192  boost::signals2::signal<sig_cb_openni_point_cloud_i >* point_cloud_i_signal_;
193  boost::signals2::signal<sig_cb_openni_point_cloud_rgb >* point_cloud_rgb_signal_;
194  boost::signals2::signal<sig_cb_openni_point_cloud_rgba >* point_cloud_rgba_signal_;
195 
196  public:
198  };
199 
200 } // namespace
201 #endif // HAVE_OPENNI
pcl::shared_ptr< DepthImage > Ptr
pcl::shared_ptr< DeviceONI > Ptr
pcl::shared_ptr< IRImage > Ptr
pcl::shared_ptr< Image > Ptr
Definition: openni_image.h:61
Grabber interface for PCL 1.x device drivers.
Definition: grabber.h:60
A simple ONI grabber.
Definition: oni_grabber.h:68
unsigned depth_height_
Definition: oni_grabber.h:182
unsigned depth_width_
Definition: oni_grabber.h:181
unsigned image_height_
Definition: oni_grabber.h:180
boost::signals2::signal< sig_cb_openni_point_cloud_rgb > * point_cloud_rgb_signal_
Definition: oni_grabber.h:193
openni_wrapper::OpenNIDevice::CallbackHandle ir_callback_handle
Definition: oni_grabber.h:185
ONIGrabber(const std::string &file_name, bool repeat, bool stream)
constructor
void(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &) sig_cb_openni_point_cloud
Definition: oni_grabber.h:76
Synchronizer< openni_wrapper::Image::Ptr, openni_wrapper::DepthImage::Ptr > rgb_sync_
synchronizer object to synchronize image and depth streams
Definition: oni_grabber.h:169
boost::signals2::signal< sig_cb_openni_depth_image > * depth_image_signal_
Definition: oni_grabber.h:187
void(const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &) sig_cb_openni_point_cloud_rgb
Definition: oni_grabber.h:77
void(const openni_wrapper::IRImage::Ptr &) sig_cb_openni_ir_image
Definition: oni_grabber.h:73
openni_wrapper::OpenNIDevice::CallbackHandle image_callback_handle
Definition: oni_grabber.h:184
openni_wrapper::DeviceONI::Ptr device_
the actual openni device
Definition: oni_grabber.h:175
void irDepthImageCallback(const openni_wrapper::IRImage::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image)
internal callback that handles synchronized IR + depth streams
boost::signals2::signal< sig_cb_openni_ir_depth_image > * ir_depth_image_signal_
Definition: oni_grabber.h:190
void(const openni_wrapper::DepthImage::Ptr &) sig_cb_openni_depth_image
Definition: oni_grabber.h:72
pcl::PointCloud< pcl::PointXYZRGB >::Ptr convertToXYZRGBPointCloud(const openni_wrapper::Image::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image) const
internal method to assemble a point cloud object
~ONIGrabber() noexcept override
destructor never throws an exception
std::string rgb_frame_id_
Definition: oni_grabber.h:176
boost::signals2::signal< sig_cb_openni_image > * image_signal_
Definition: oni_grabber.h:186
void imageDepthImageCallback(const openni_wrapper::Image::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image)
internal callback that handles synchronized image + depth streams
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr convertToXYZRGBAPointCloud(const openni_wrapper::Image::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image) const
internal method to assemble a point cloud object
Synchronizer< openni_wrapper::IRImage::Ptr, openni_wrapper::DepthImage::Ptr > ir_sync_
synchronizer object to synchronize IR and depth streams
Definition: oni_grabber.h:172
void(const openni_wrapper::IRImage::Ptr &, const openni_wrapper::DepthImage::Ptr &, float) sig_cb_openni_ir_depth_image
Definition: oni_grabber.h:75
unsigned image_width_
Definition: oni_grabber.h:179
boost::signals2::signal< sig_cb_openni_point_cloud > * point_cloud_signal_
Definition: oni_grabber.h:191
pcl::PointCloud< pcl::PointXYZ >::Ptr convertToXYZPointCloud(const openni_wrapper::DepthImage::Ptr &depth) const
internal method to assemble a point cloud object
void(const openni_wrapper::Image::Ptr &) sig_cb_openni_image
Definition: oni_grabber.h:71
void(const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &) sig_cb_openni_point_cloud_i
Definition: oni_grabber.h:79
void irCallback(openni_wrapper::IRImage::Ptr ir_image, void *cookie)
internal OpenNI (openni_wrapper) callback that handles IR streams
openni_wrapper::OpenNIDevice::CallbackHandle depth_callback_handle
Definition: oni_grabber.h:183
boost::signals2::signal< sig_cb_openni_point_cloud_rgba > * point_cloud_rgba_signal_
Definition: oni_grabber.h:194
void(const openni_wrapper::Image::Ptr &, const openni_wrapper::DepthImage::Ptr &, float) sig_cb_openni_image_depth_image
Definition: oni_grabber.h:74
void(const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &) sig_cb_openni_point_cloud_rgba
Definition: oni_grabber.h:78
boost::signals2::signal< sig_cb_openni_ir_image > * ir_image_signal_
Definition: oni_grabber.h:188
void imageCallback(openni_wrapper::Image::Ptr image, void *cookie)
internal OpenNI (openni_wrapper) callback that handles image streams
std::string depth_frame_id_
Definition: oni_grabber.h:177
void depthCallback(openni_wrapper::DepthImage::Ptr depth_image, void *cookie)
internal OpenNI (openni_wrapper) callback that handles depth streams
boost::signals2::signal< sig_cb_openni_image_depth_image > * image_depth_image_signal_
Definition: oni_grabber.h:189
boost::signals2::signal< sig_cb_openni_point_cloud_i > * point_cloud_i_signal_
Definition: oni_grabber.h:192
pcl::PointCloud< pcl::PointXYZI >::Ptr convertToXYZIPointCloud(const openni_wrapper::IRImage::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image) const
internal method to assemble a point cloud object
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
Defines functions, macros and traits for allocating and using memory.
float4 PointXYZRGB
Definition: internal.hpp:60
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323