Point Cloud Library (PCL)  1.12.1-dev
openni_device_oni.h
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36 
37 #pragma once
38 
39 #include <pcl/pcl_config.h>
40 #include <pcl/memory.h>
41 #ifdef HAVE_OPENNI
42 
43 #include "openni_device.h"
44 #include "openni_driver.h"
45 
46 #include <pcl/io/openni_camera/openni_image.h>
47 
48 #include <condition_variable>
49 #include <mutex>
50 
51 namespace openni_wrapper
52 {
53 
54  /**
55  * @brief Concrete implementation of the interface OpenNIDevice for a virtual device playing back an ONI file.
56  * @author Suat Gedikli
57  * @date 19. june 2011
58  * @ingroup io
59  */
60  class DeviceONI : public OpenNIDevice
61  {
62  friend class OpenNIDriver;
63  public:
64 
65  using Ptr = pcl::shared_ptr<DeviceONI>;
66  using ConstPtr = pcl::shared_ptr<const DeviceONI>;
67 
68  DeviceONI (xn::Context& context, const std::string& file_name, bool repeat = false, bool streaming = true);
69  ~DeviceONI () noexcept override;
70 
71  void startImageStream () override;
72  void stopImageStream () override;
73 
74  void startDepthStream () override;
75  void stopDepthStream () override;
76 
77  void startIRStream () override;
78  void stopIRStream () override;
79 
80  bool isImageStreamRunning () const throw () override;
81  bool isDepthStreamRunning () const throw () override;
82  bool isIRStreamRunning () const throw () override;
83 
84  bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw () override;
85 
86  /** \brief Trigger a new frame in the ONI stream.
87  * \param[in] relative_offset the relative offset in case we want to seek in the file
88  */
89  bool
90  trigger (int relative_offset = 0);
91 
92  bool isStreaming () const throw ();
93 
94  /** \brief Check if there is any data left in the ONI file to process. */
95  inline bool
97  {
98  return (!player_.IsEOF ());
99  }
100 
101  protected:
102  Image::Ptr getCurrentImage (pcl::shared_ptr<xn::ImageMetaData> image_meta_data) const throw () override;
103 
105  static void __stdcall NewONIDepthDataAvailable (xn::ProductionNode& node, void* cookie) noexcept;
106  static void __stdcall NewONIImageDataAvailable (xn::ProductionNode& node, void* cookie) noexcept;
107  static void __stdcall NewONIIRDataAvailable (xn::ProductionNode& node, void* cookie) noexcept;
108 
109  xn::Player player_;
110  std::thread player_thread_;
111  mutable std::mutex player_mutex_;
112  std::condition_variable player_condition_;
117  };
118 } //namespace openni_wrapper
119 #endif //HAVE_OPENNI
Concrete implementation of the interface OpenNIDevice for a virtual device playing back an ONI file.
~DeviceONI() noexcept override
void stopIRStream() override
stops the IR stream.
void startIRStream() override
starts the IR stream.
static void __stdcall NewONIIRDataAvailable(xn::ProductionNode &node, void *cookie) noexcept
bool isDepthStreamRunning() const override
void stopDepthStream() override
stops the depth stream.
void startDepthStream() override
starts the depth stream.
bool trigger(int relative_offset=0)
Trigger a new frame in the ONI stream.
bool isImageStreamRunning() const override
static void __stdcall NewONIImageDataAvailable(xn::ProductionNode &node, void *cookie) noexcept
bool hasDataLeft()
Check if there is any data left in the ONI file to process.
DeviceONI(xn::Context &context, const std::string &file_name, bool repeat=false, bool streaming=true)
void startImageStream() override
starts the image stream.
bool isIRStreamRunning() const override
Image::Ptr getCurrentImage(pcl::shared_ptr< xn::ImageMetaData > image_meta_data) const override
std::condition_variable player_condition_
static void __stdcall NewONIDepthDataAvailable(xn::ProductionNode &node, void *cookie) noexcept
void stopImageStream() override
stops the image stream.
bool isImageResizeSupported(unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const override
pcl::shared_ptr< Image > Ptr
Definition: openni_image.h:61
Class representing an astract device for OpenNI devices: Primesense PSDK, Microsoft Kinect,...
Definition: openni_device.h:72
pcl::shared_ptr< OpenNIDevice > Ptr
Definition: openni_device.h:80
pcl::shared_ptr< const OpenNIDevice > ConstPtr
Definition: openni_device.h:81
Driver class implemented as Singleton.
Definition: openni_driver.h:66
Defines functions, macros and traits for allocating and using memory.