Point Cloud Library (PCL)  1.7.0
openni_device_oni.h
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36 
37 #include <pcl/pcl_config.h>
38 #ifdef HAVE_OPENNI
39 
40 #ifndef __OPENNI_DEVICE_ONI__
41 #define __OPENNI_DEVICE_ONI__
42 
43 #include "openni_device.h"
44 #include "openni_driver.h"
45 
46 namespace openni_wrapper
47 {
48 
49  /**
50  * @brief Concrete implementation of the interface OpenNIDevice for a virtual device playing back an ONI file.
51  * @author Suat Gedikli
52  * @date 19. june 2011
53  * @ingroup io
54  */
55  class DeviceONI : public OpenNIDevice
56  {
57  friend class OpenNIDriver;
58  public:
59  DeviceONI (xn::Context& context, const std::string& file_name, bool repeat = false, bool streaming = true);
60  virtual ~DeviceONI () throw ();
61 
62  virtual void startImageStream ();
63  virtual void stopImageStream ();
64 
65  virtual void startDepthStream ();
66  virtual void stopDepthStream ();
67 
68  virtual void startIRStream ();
69  virtual void stopIRStream ();
70 
71  virtual bool isImageStreamRunning () const throw ();
72  virtual bool isDepthStreamRunning () const throw ();
73  virtual bool isIRStreamRunning () const throw ();
74 
75  virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ();
76 
77  /** \brief Trigger a new frame in the ONI stream.
78  * \param[in] relative_offset the relative offset in case we want to seek in the file
79  */
80  bool
81  trigger (int relative_offset = 0);
82 
83  bool isStreaming () const throw ();
84 
85  /** \brief Check if there is any data left in the ONI file to process. */
86  inline bool
88  {
89  return (!player_.IsEOF ());
90  }
91 
92  protected:
93  virtual boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ();
94 
95  void PlayerThreadFunction ();
96  static void __stdcall NewONIDepthDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
97  static void __stdcall NewONIImageDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
98  static void __stdcall NewONIIRDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
99 
100  xn::Player player_;
101  boost::thread player_thread_;
102  mutable boost::mutex player_mutex_;
103  boost::condition_variable player_condition_;
108  };
109 } //namespace openni_wrapper
110 #endif //__OPENNI_DEVICE_ONI__
111 #endif //HAVE_OPENNI
112