openni_device_oni.h

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011 Willow Garage, Inc.
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#pragma once
 
#include <pcl/pcl_config.h>
#include <pcl/memory.h>
#ifdef HAVE_OPENNI
 
#include "openni_device.h"
#include "openni_driver.h"
 
#include <pcl/io/openni_camera/openni_image.h>
 
#include <condition_variable>
#include <mutex>
 
namespace openni_wrapper
{
 
  /**
   * @brief Concrete implementation of the interface OpenNIDevice for a virtual device playing back an ONI file.
   * @author Suat Gedikli
   * @date 19. june 2011
   * @ingroup io
   */
  class DeviceONI : public OpenNIDevice
  {
    friend class OpenNIDriver;
  public:
 
    using Ptr = pcl::shared_ptr<DeviceONI>;
    using ConstPtr = pcl::shared_ptr<const DeviceONI>;
 
    DeviceONI (xn::Context& context, const std::string& file_name, bool repeat = false, bool streaming = true);
    ~DeviceONI () noexcept override;
 
    void startImageStream () override;
    void stopImageStream () override;
 
    void startDepthStream () override;
    void stopDepthStream () override;
 
    void startIRStream () override;
    void stopIRStream () override;
 
    bool isImageStreamRunning () const noexcept override;
    bool isDepthStreamRunning () const noexcept override;
    bool isIRStreamRunning () const noexcept override;
 
    bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const noexcept override;
 
    /** \brief Trigger a new frame in the ONI stream.
      * \param[in] relative_offset the relative offset in case we want to seek in the file
      */
    bool 
    trigger (int relative_offset = 0);
 
    bool isStreaming () const noexcept;
 
    /** \brief Check if there is any data left in the ONI file to process. */
    inline bool
    hasDataLeft ()
    {
      return (!player_.IsEOF ());
    }
 
  protected:
    Image::Ptr getCurrentImage (pcl::shared_ptr<xn::ImageMetaData> image_meta_data) const noexcept override;
 
    void PlayerThreadFunction ();
    static void __stdcall NewONIDepthDataAvailable (xn::ProductionNode& node, void* cookie) noexcept;
    static void __stdcall NewONIImageDataAvailable (xn::ProductionNode& node, void* cookie) noexcept;
    static void __stdcall NewONIIRDataAvailable (xn::ProductionNode& node, void* cookie) noexcept;
 
    xn::Player player_;
    std::thread player_thread_;
    mutable std::mutex player_mutex_;
    std::condition_variable player_condition_;
    bool streaming_;
    bool depth_stream_running_{false};
    bool image_stream_running_{false};
    bool ir_stream_running_{false};
  };
} //namespace openni_wrapper
#endif //HAVE_OPENNI