pcl: openni_grabber.h Source File

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00037 
00038 #include <pcl/pcl_config.h>
00039 #ifdef HAVE_OPENNI
00040 
00041 #ifndef __PCL_IO_OPENNI_GRABBER__
00042 #define __PCL_IO_OPENNI_GRABBER__
00043 
00044 #include <Eigen/Core>
00045 #include <pcl/io/grabber.h>
00046 #include <pcl/io/openni_camera/openni_driver.h>
00047 #include <pcl/io/openni_camera/openni_device_kinect.h>
00048 #include <pcl/io/openni_camera/openni_image.h>
00049 #include <pcl/io/openni_camera/openni_depth_image.h>
00050 #include <pcl/io/openni_camera/openni_ir_image.h>
00051 #include <string>
00052 #include <deque>
00053 #include <boost/thread/mutex.hpp>
00054 #include <pcl/common/synchronizer.h>
00055 
00056 namespace pcl
00057 {
00058   struct PointXYZ;
00059   struct PointXYZRGB;
00060   struct PointXYZRGBA;
00061   struct PointXYZI;
00062   template <typename T> class PointCloud;
00063 
00068   class PCL_EXPORTS OpenNIGrabber : public Grabber
00069   {
00070     public:
00071 
00072       typedef enum
00073       {
00074         OpenNI_Default_Mode = 0, // This can depend on the device. For now all devices (PSDK, Xtion, Kinect) its VGA@30Hz
00075         OpenNI_SXGA_15Hz = 1,    // Only supported by the Kinect
00076         OpenNI_VGA_30Hz = 2,     // Supported by PSDK, Xtion and Kinect
00077         OpenNI_VGA_25Hz = 3,     // Supportged by PSDK and Xtion
00078         OpenNI_QVGA_25Hz = 4,    // Supported by PSDK and Xtion
00079         OpenNI_QVGA_30Hz = 5,    // Supported by PSDK, Xtion and Kinect
00080         OpenNI_QVGA_60Hz = 6,    // Supported by PSDK and Xtion
00081         OpenNI_QQVGA_25Hz = 7,   // Not supported -> using software downsampling (only for integer scale factor and only NN)
00082         OpenNI_QQVGA_30Hz = 8,   // Not supported -> using software downsampling (only for integer scale factor and only NN)
00083         OpenNI_QQVGA_60Hz = 9    // Not supported -> using software downsampling (only for integer scale factor and only NN)
00084       } Mode;
00085 
00086       //define callback signature typedefs
00087       typedef void (sig_cb_openni_image) (const boost::shared_ptr<openni_wrapper::Image>&);
00088       typedef void (sig_cb_openni_depth_image) (const boost::shared_ptr<openni_wrapper::DepthImage>&);
00089       typedef void (sig_cb_openni_ir_image) (const boost::shared_ptr<openni_wrapper::IRImage>&);
00090       typedef void (sig_cb_openni_image_depth_image) (const boost::shared_ptr<openni_wrapper::Image>&, const boost::shared_ptr<openni_wrapper::DepthImage>&, float constant) ;
00091       typedef void (sig_cb_openni_ir_depth_image) (const boost::shared_ptr<openni_wrapper::IRImage>&, const boost::shared_ptr<openni_wrapper::DepthImage>&, float constant) ;
00092       typedef void (sig_cb_openni_point_cloud) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZ> >&);
00093       typedef void (sig_cb_openni_point_cloud_rgb) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGB> >&);
00094       typedef void (sig_cb_openni_point_cloud_rgba) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGBA> >&);
00095       typedef void (sig_cb_openni_point_cloud_i) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&);
00096       typedef void (sig_cb_openni_point_cloud_eigen) (const boost::shared_ptr<const pcl::PointCloud<Eigen::MatrixXf> >&);
00097 
00098     public:
00104       OpenNIGrabber (const std::string& device_id = "",
00105                      const Mode& depth_mode = OpenNI_Default_Mode,
00106                      const Mode& image_mode = OpenNI_Default_Mode);
00107 
00109       virtual ~OpenNIGrabber () throw ();
00110 
00112       virtual void
00113       start ();
00114 
00116       virtual void
00117       stop ();
00118 
00120       virtual bool
00121       isRunning () const;
00122 
00123       virtual std::string
00124       getName () const;
00125 
00127       virtual float 
00128       getFramesPerSecond () const;
00129 
00131       inline boost::shared_ptr<openni_wrapper::OpenNIDevice>
00132       getDevice () const;
00133 
00135       std::vector<std::pair<int, XnMapOutputMode> >
00136       getAvailableDepthModes () const;
00137 
00139       std::vector<std::pair<int, XnMapOutputMode> >
00140       getAvailableImageModes () const;
00141 
00142     private:
00144       void
00145       onInit (const std::string& device_id, const Mode& depth_mode, const Mode& image_mode);
00146 
00148       void
00149       setupDevice (const std::string& device_id, const Mode& depth_mode, const Mode& image_mode);
00150 
00152       void
00153       updateModeMaps ();
00154 
00156       void
00157       startSynchronization ();
00158 
00160       void
00161       stopSynchronization ();
00162 
00164       bool
00165       mapConfigMode2XnMode (int mode, XnMapOutputMode &xnmode) const;
00166 
00167       // callback methods
00169       void
00170       imageCallback (boost::shared_ptr<openni_wrapper::Image> image, void* cookie);
00171 
00173       void
00174       depthCallback (boost::shared_ptr<openni_wrapper::DepthImage> depth_image, void* cookie);
00175 
00177       void
00178       irCallback (boost::shared_ptr<openni_wrapper::IRImage> ir_image, void* cookie);
00179 
00181       void
00182       imageDepthImageCallback (const boost::shared_ptr<openni_wrapper::Image> &image,
00183                                const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image);
00184 
00186       void
00187       irDepthImageCallback (const boost::shared_ptr<openni_wrapper::IRImage> &image,
00188                             const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image);
00189 
00191       virtual void
00192       signalsChanged ();
00193 
00194       // helper methods
00195 
00197       virtual inline void
00198       checkImageAndDepthSynchronizationRequired ();
00199 
00201       virtual inline void
00202       checkImageStreamRequired ();
00203 
00205       virtual inline void
00206       checkDepthStreamRequired ();
00207 
00209       virtual inline void
00210       checkIRStreamRequired ();
00211 
00213       boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> >
00214       convertToXYZPointCloud (const boost::shared_ptr<openni_wrapper::DepthImage> &depth) const;
00215 
00217       template <typename PointT> typename pcl::PointCloud<PointT>::Ptr
00218       convertToXYZRGBPointCloud (const boost::shared_ptr<openni_wrapper::Image> &image,
00219                                  const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image) const;      
00221       boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >
00222       convertToXYZIPointCloud (const boost::shared_ptr<openni_wrapper::IRImage> &image,
00223                                const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image) const;
00224 
00225       Synchronizer<boost::shared_ptr<openni_wrapper::Image>, boost::shared_ptr<openni_wrapper::DepthImage> > rgb_sync_;
00226       Synchronizer<boost::shared_ptr<openni_wrapper::IRImage>, boost::shared_ptr<openni_wrapper::DepthImage> > ir_sync_;
00227 
00233       boost::shared_ptr<pcl::PointCloud<Eigen::MatrixXf> >
00234       convertToEigenPointCloud (const boost::shared_ptr<openni_wrapper::Image> &image,
00235                                 const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image) const;
00236       
00238       boost::shared_ptr<openni_wrapper::OpenNIDevice> device_;
00239 
00240       std::string rgb_frame_id_;
00241       std::string depth_frame_id_;
00242       unsigned image_width_;
00243       unsigned image_height_;
00244       unsigned depth_width_;
00245       unsigned depth_height_;
00246       
00247       bool image_required_;
00248       bool depth_required_;
00249       bool ir_required_;
00250       bool sync_required_;
00251 
00252       boost::signals2::signal<sig_cb_openni_image>* image_signal_;
00253       boost::signals2::signal<sig_cb_openni_depth_image>* depth_image_signal_;
00254       boost::signals2::signal<sig_cb_openni_ir_image>* ir_image_signal_;
00255       boost::signals2::signal<sig_cb_openni_image_depth_image>* image_depth_image_signal_;
00256       boost::signals2::signal<sig_cb_openni_ir_depth_image>* ir_depth_image_signal_;
00257       boost::signals2::signal<sig_cb_openni_point_cloud>* point_cloud_signal_;
00258       boost::signals2::signal<sig_cb_openni_point_cloud_i>* point_cloud_i_signal_;
00259       boost::signals2::signal<sig_cb_openni_point_cloud_rgb>* point_cloud_rgb_signal_;
00260       boost::signals2::signal<sig_cb_openni_point_cloud_rgba>* point_cloud_rgba_signal_;
00261       boost::signals2::signal<sig_cb_openni_point_cloud_eigen>* point_cloud_eigen_signal_;
00262 
00263       struct modeComp
00264       {
00265 
00266         bool operator () (const XnMapOutputMode& mode1, const XnMapOutputMode & mode2) const
00267         {
00268           if (mode1.nXRes < mode2.nXRes)
00269             return true;
00270           else if (mode1.nXRes > mode2.nXRes)
00271             return false;
00272           else if (mode1.nYRes < mode2.nYRes)
00273             return true;
00274           else if (mode1.nYRes > mode2.nYRes)
00275             return false;
00276           else if (mode1.nFPS < mode2.nFPS)
00277             return true;
00278           else
00279             return false;
00280         }
00281       } ;
00282       std::map<int, XnMapOutputMode> config2xn_map_;
00283 
00284       openni_wrapper::OpenNIDevice::CallbackHandle depth_callback_handle;
00285       openni_wrapper::OpenNIDevice::CallbackHandle image_callback_handle;
00286       openni_wrapper::OpenNIDevice::CallbackHandle ir_callback_handle;
00287       bool running_;
00288 
00289     public:
00290       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00291   };
00292 
00293   boost::shared_ptr<openni_wrapper::OpenNIDevice>
00294   OpenNIGrabber::getDevice () const
00295   {
00296     return device_;
00297   }
00298 
00299 } // namespace pcl
00300 #endif // __PCL_IO_OPENNI_GRABBER__
00301 #endif // HAVE_OPENNI