real_sense_device_manager.h

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#pragma once
 
#include <pxcsession.h>
#include <pxccapture.h>
#include <pxccapturemanager.h>
 
#include <pcl/memory.h>  // for pcl::shared_ptr, pcl::weak_ptr
#include <pcl/pcl_exports.h>  // for PCL_EXPORTS
 
#include <boost/core/noncopyable.hpp>  // for boost::noncopyable
 
#include <cstddef>  // for std::size_t
#include <mutex>  // for std::lock_guard, std::mutex
#include <string>  // for std::string
#include <vector>  // for std::vector
 
namespace pcl
{
 
  class RealSenseGrabber;
 
  namespace io
  {
 
    namespace real_sense
    {
 
      class RealSenseDevice;
 
      class PCL_EXPORTS RealSenseDeviceManager : boost::noncopyable
      {
 
        public:
 
          using Ptr = std::shared_ptr<RealSenseDeviceManager>;
 
          static Ptr&
          getInstance ()
          {
            static Ptr instance;
            if (!instance)
            {
              std::lock_guard<std::mutex> lock (mutex_);
              if (!instance)
                instance.reset (new RealSenseDeviceManager);
            }
            return (instance);
          }
 
          inline std::size_t
          getNumDevices ()
          {
            return (device_list_.size ());
          }
 
          std::shared_ptr<RealSenseDevice>
          captureDevice ();
 
          std::shared_ptr<RealSenseDevice>
          captureDevice (std::size_t index);
 
          std::shared_ptr<RealSenseDevice>
          captureDevice (const std::string& sn);
 
          ~RealSenseDeviceManager ();
 
        private:
 
          struct DeviceInfo
          {
            pxcUID iuid;
            pxcI32 didx;
            std::string serial;
            weak_ptr<RealSenseDevice> device_ptr;
            inline bool isCaptured () { return (!device_ptr.expired ()); }
          };
 
          /** If the device is already captured returns a pointer. */
          std::shared_ptr<RealSenseDevice>
          capture (DeviceInfo& device_info);
 
          /** This function discovers devices that are capable of streaming
            * depth data. */
          void
          populateDeviceList ();
 
          std::shared_ptr<PXCSession> session_;
          std::shared_ptr<PXCCaptureManager> capture_manager_;
 
          std::vector<DeviceInfo> device_list_;
 
          static std::mutex mutex_;
 
      };
 
      class PCL_EXPORTS RealSenseDevice : boost::noncopyable
      {
 
        public:
          using Ptr = pcl::shared_ptr<RealSenseDevice>;
 
          inline const std::string&
          getSerialNumber () { return (device_id_); }
 
          inline PXCCapture::Device&
          getPXCDevice () { return (*device_); }
 
          /** Reset the state of given device by releasing and capturing again. */
          static void
          reset (RealSenseDevice::Ptr& device)
          {
            std::string id = device->getSerialNumber ();
            device.reset ();
            device = RealSenseDeviceManager::getInstance ()->captureDevice (id);
          }
 
        private:
 
          friend class RealSenseDeviceManager;
 
          std::string device_id_;
          std::shared_ptr<PXCCapture> capture_;
          std::shared_ptr<PXCCapture::Device> device_;
 
          RealSenseDevice (const std::string& id) : device_id_ (id) { };
 
      };
 
    } // namespace real_sense
 
  } // namespace io
 
} // namespace pcl