Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011 Willow Garage, Inc. 00005 * 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the copyright holder(s) nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 */ 00036 00037 #include <pcl/pcl_config.h> 00038 #ifdef HAVE_OPENNI 00039 00040 #ifndef __OPENNI_DEVICE_ONI__ 00041 #define __OPENNI_DEVICE_ONI__ 00042 00043 #include "openni_device.h" 00044 #include "openni_driver.h" 00045 00046 namespace openni_wrapper 00047 { 00048 00049 /** 00050 * @brief Concrete implementation of the interface OpenNIDevice for a virtual device playing back an ONI file. 00051 * @author Suat Gedikli 00052 * @date 19. june 2011 00053 * @ingroup io 00054 */ 00055 class DeviceONI : public OpenNIDevice 00056 { 00057 friend class OpenNIDriver; 00058 public: 00059 DeviceONI (xn::Context& context, const std::string& file_name, bool repeat = false, bool streaming = true); 00060 virtual ~DeviceONI () throw (); 00061 00062 virtual void startImageStream (); 00063 virtual void stopImageStream (); 00064 00065 virtual void startDepthStream (); 00066 virtual void stopDepthStream (); 00067 00068 virtual void startIRStream (); 00069 virtual void stopIRStream (); 00070 00071 virtual bool isImageStreamRunning () const throw (); 00072 virtual bool isDepthStreamRunning () const throw (); 00073 virtual bool isIRStreamRunning () const throw (); 00074 00075 virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw (); 00076 00077 /** \brief Trigger a new frame in the ONI stream. 00078 * \param[in] relative_offset the relative offset in case we want to seek in the file 00079 */ 00080 bool 00081 trigger (int relative_offset = 0); 00082 00083 bool isStreaming () const throw (); 00084 00085 /** \brief Check if there is any data left in the ONI file to process. */ 00086 inline bool 00087 hasDataLeft () 00088 { 00089 return (!player_.IsEOF ()); 00090 } 00091 00092 protected: 00093 virtual boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw (); 00094 00095 void PlayerThreadFunction (); 00096 static void __stdcall NewONIDepthDataAvailable (xn::ProductionNode& node, void* cookie) throw (); 00097 static void __stdcall NewONIImageDataAvailable (xn::ProductionNode& node, void* cookie) throw (); 00098 static void __stdcall NewONIIRDataAvailable (xn::ProductionNode& node, void* cookie) throw (); 00099 00100 xn::Player player_; 00101 boost::thread player_thread_; 00102 mutable boost::mutex player_mutex_; 00103 boost::condition_variable player_condition_; 00104 bool streaming_; 00105 bool depth_stream_running_; 00106 bool image_stream_running_; 00107 bool ir_stream_running_; 00108 }; 00109 } //namespace openni_wrapper 00110 #endif //__OPENNI_DEVICE_ONI__ 00111 #endif //HAVE_OPENNI 00112