openni_driver.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011 Willow Garage, Inc.
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#include <pcl/pcl_config.h>
#ifdef HAVE_OPENNI

#ifndef OPENNI_OPENNI_H_
#define OPENNI_OPENNI_H_
#include <string>
#include <vector>
#include <map>
#include "openni.h"
#include "openni_exception.h"
#include "openni_device.h"
#include <pcl/io/boost.h>
#include <pcl/pcl_macros.h>

namespace openni_wrapper
{
  //class OpenNIDevice;

  class PCL_EXPORTS OpenNIDriver
  {
  public:
    ~OpenNIDriver () throw ();

    inline static OpenNIDriver& getInstance ();

    unsigned updateDeviceList ();

    inline unsigned getNumberDevices () const throw ();

    boost::shared_ptr<OpenNIDevice> createVirtualDevice (const std::string& path, bool repeat, bool stream) const;

    boost::shared_ptr<OpenNIDevice> getDeviceByIndex (unsigned index) const;

    boost::shared_ptr<OpenNIDevice> getDeviceBySerialNumber (const std::string& serial_number) const;
    
#ifndef _WIN32

    boost::shared_ptr<OpenNIDevice> getDeviceByAddress (unsigned char bus, unsigned char address) const;
#endif

    const char* getSerialNumber (unsigned index) const throw ();

    const char* getConnectionString (unsigned index) const throw ();

    const char* getVendorName (unsigned index) const throw ();

    const char* getProductName (unsigned index) const throw ();

    unsigned short getVendorID (unsigned index) const throw ();

    unsigned short getProductID (unsigned index) const throw ();

    unsigned char  getBus (unsigned index) const throw ();

    unsigned char  getAddress (unsigned index) const throw ();

    void stopAll ();

    static void
    getDeviceType (const std::string& connection_string, unsigned short& vendorId, unsigned short& productId);
  protected:

    struct PCL_EXPORTS DeviceContext
    {
      DeviceContext (const xn::NodeInfo& device_node, xn::NodeInfo* image_node, xn::NodeInfo* depth_node, xn::NodeInfo * ir_node);
      DeviceContext (const xn::NodeInfo & device_node);
      DeviceContext (const DeviceContext&);
      xn::NodeInfo device_node;
      boost::shared_ptr<xn::NodeInfo> image_node;
      boost::shared_ptr<xn::NodeInfo> depth_node;
      boost::shared_ptr<xn::NodeInfo> ir_node;
      boost::weak_ptr<OpenNIDevice> device;
    } ;

    OpenNIDriver ();
    boost::shared_ptr<OpenNIDevice> getDevice (unsigned index) const;

#ifndef _WIN32
    // workaround to get additional device nformation like serial number, vendor and product name, until Primesense fix this
    void getDeviceInfos () throw ();
#endif

    mutable std::vector<DeviceContext> device_context_;
    mutable xn::Context context_;

    std::map< unsigned char, std::map<unsigned char, unsigned > > bus_map_;
    std::map< std::string, unsigned > serial_map_;
    std::map< std::string, unsigned > connection_string_map_;
  } ;

  OpenNIDriver&
  OpenNIDriver::getInstance ()
  {
    static OpenNIDriver driver;
    return driver;
  }

  unsigned
  OpenNIDriver::getNumberDevices () const throw ()
  {
    return static_cast<unsigned> (device_context_.size ());
  }
} // namespace
#endif
#endif