Point Cloud Library (PCL)  1.6.0
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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 
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  bool trigger ();
78  bool isStreaming () const throw ();
79  protected:
80  virtual boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ();
81 
82  void PlayerThreadFunction ();
83  static void __stdcall NewONIDepthDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
84  static void __stdcall NewONIImageDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
85  static void __stdcall NewONIIRDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
86 
87  xn::Player player_;
88  boost::thread player_thread_;
89  mutable boost::mutex player_mutex_;
90  boost::condition_variable player_condition_;
91  bool streaming_;
92  bool depth_stream_running_;
93  bool image_stream_running_;
94  bool ir_stream_running_;
95  } ;
96 
97 } //namespace openni_wrapper
98 #endif //__OPENNI_DEVICE_ONI__
99 #endif //HAVE_OPENNI
100 
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