depth_sense_grabber_impl.h

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#pragma once
 
#include <pcl/common/time.h>
#include <pcl/io/buffers.h>
#include <pcl/io/depth_sense_grabber.h>
 
#include <DepthSense.hxx>
 
#include <memory>
#include <mutex>
 
namespace pcl
{
 
  namespace io
  {
 
    namespace depth_sense
    {
 
      struct DepthSenseGrabberImpl
      {
 
        /// Parent grabber
        DepthSenseGrabber* p_;
 
        /// Serial number of the device captured by this grabber
        std::string device_id_;
 
        bool is_running_;
 
        int confidence_threshold_;
        DepthSenseGrabber::TemporalFilteringType temporal_filtering_type_;
 
        std::shared_ptr<DepthSense::ProjectionHelper> projection_;
 
        using sig_cb_depth_sense_point_cloud = DepthSenseGrabber::sig_cb_depth_sense_point_cloud;
        using sig_cb_depth_sense_point_cloud_rgba = DepthSenseGrabber::sig_cb_depth_sense_point_cloud_rgba;
 
        /// Signal to indicate whether new XYZ cloud is available
        boost::signals2::signal<sig_cb_depth_sense_point_cloud>* point_cloud_signal_;
        /// Signal to indicate whether new XYZRGBA cloud is available
        boost::signals2::signal<sig_cb_depth_sense_point_cloud_rgba>* point_cloud_rgba_signal_;
 
        /// Indicates whether there are subscribers for PointXYZ signal. This is
        /// computed and stored on start()
        bool need_xyz_;
 
        /// Indicates whether there are subscribers for PointXYZRGBA signal. This
        /// is computed and stored on start()
        bool need_xyzrgba_;
 
        EventFrequency frequency_;
        mutable std::mutex fps_mutex_;
 
        /// Temporary buffer to store color data
        std::vector<std::uint8_t> color_data_;
 
        std::shared_ptr<pcl::io::Buffer<float> > depth_buffer_;
 
        static const int FRAMERATE = 30;
        static const int WIDTH = 320;
        static const int HEIGHT = 240;
        static const int SIZE = WIDTH * HEIGHT;
        static const int COLOR_WIDTH = 640;
        static const int COLOR_HEIGHT = 480;
        static const int COLOR_SIZE = COLOR_WIDTH * COLOR_HEIGHT;
 
        DepthSenseGrabberImpl (DepthSenseGrabber* parent, const std::string& device_id);
 
        ~DepthSenseGrabberImpl () noexcept;
 
        void
        start ();
 
        void
        stop ();
 
        float
        getFramesPerSecond () const;
 
        void
        setConfidenceThreshold (int threshold);
 
        void
        enableTemporalFiltering (DepthSenseGrabber::TemporalFilteringType type, std::size_t window_size);
 
        void
        setCameraParameters (const DepthSense::StereoCameraParameters& parameters);
 
        void
        configureDepthNode (DepthSense::DepthNode node) const;
 
        void
        configureColorNode (DepthSense::ColorNode node) const;
 
        /** A callback for processing depth data.
          *
          * It is supposed to be called from the DepthSense::Context thread that
          * is managed by DepthSenseDeviceManager. */
        void
        onDepthDataReceived (DepthSense::DepthNode node, DepthSense::DepthNode::NewSampleReceivedData data);
 
        /** A callback for processing color data.
          *
          * It is supposed to be called from the DepthSense::Context thread that
          * is managed by DepthSenseDeviceManager. */
        void
        onColorDataReceived (DepthSense::ColorNode node, DepthSense::ColorNode::NewSampleReceivedData data);
 
        template <typename Point> void
        computeXYZ (PointCloud<Point>& cloud);
 
      };
 
    }
 
  }
 
}