openni_driver.h
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011 Willow Garage, Inc.
00005  *    Suat Gedikli <gedikli@willowgarage.com>
00006  *
00007  *  All rights reserved.
00008  *
00009  *  Redistribution and use in source and binary forms, with or without
00010  *  modification, are permitted provided that the following conditions
00011  *  are met:
00012  *
00013  *   * Redistributions of source code must retain the above copyright
00014  *     notice, this list of conditions and the following disclaimer.
00015  *   * Redistributions in binary form must reproduce the above
00016  *     copyright notice, this list of conditions and the following
00017  *     disclaimer in the documentation and/or other materials provided
00018  *     with the distribution.
00019  *   * Neither the name of Willow Garage, Inc. nor the names of its
00020  *     contributors may be used to endorse or promote products derived
00021  *     from this software without specific prior written permission.
00022  *
00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00027  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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00036  */
00037 
00038 #ifndef OPENNI_OPENNI_H_
00039 #define OPENNI_OPENNI_H_
00040 #include <string>
00041 #include <vector>
00042 #include <map>
00043 #include "openni_exception.h"
00044 #include "openni_device.h"
00045 #include <boost/shared_ptr.hpp>
00046 #include <boost/weak_ptr.hpp>
00047 #include <XnCppWrapper.h>
00048 
00049 namespace openni_wrapper
00050 {
00051 //class OpenNIDevice;
00058 class OpenNIDriver
00059 {
00060 public:
00061   ~OpenNIDriver () throw ();
00062 
00063   inline static OpenNIDriver& getInstance () throw (OpenNIException);
00064   unsigned updateDeviceList () throw ();
00065   inline unsigned getNumberDevices () const throw ();
00066   
00067   boost::shared_ptr<OpenNIDevice> createVirtualDevice (const std::string& path, bool repeat, bool stream) const throw (OpenNIException);
00068   boost::shared_ptr<OpenNIDevice> getDeviceByIndex (unsigned index) const throw (OpenNIException);
00069 #ifndef _WIN32
00070   boost::shared_ptr<OpenNIDevice> getDeviceBySerialNumber (const std::string& serial_number) const throw (OpenNIException);
00071   boost::shared_ptr<OpenNIDevice> getDeviceByAddress (unsigned char bus, unsigned char address) const throw (OpenNIException);
00072 #endif
00073 
00074   const char* getSerialNumber (unsigned index) const throw ();
00076   const char* getConnectionString (unsigned index) const throw ();
00077 
00078   const char* getVendorName (unsigned index) const throw ();
00079   const char* getProductName (unsigned index) const throw ();
00080   unsigned short getVendorID (unsigned index) const throw ();
00081   unsigned short getProductID (unsigned index) const throw ();
00082   unsigned char  getBus (unsigned index) const throw ();
00083   unsigned char  getAddress (unsigned index) const throw ();
00084 
00085   void getPrimesenseSerial(xn::NodeInfo info, char* buffer, unsigned buf_size) const throw ();
00086 
00087   void stopAll () throw (OpenNIException);
00088 
00089   static void getDeviceType (const std::string& connection_string, unsigned short& vendorId, unsigned short& productId);
00090 protected:
00091   struct DeviceContext
00092   {
00093     DeviceContext (const xn::NodeInfo& device_node, xn::NodeInfo* image_node, xn::NodeInfo* depth_node, xn::NodeInfo* ir_node);
00094     DeviceContext (const xn::NodeInfo& device_node);
00095     DeviceContext (const DeviceContext&);
00096     xn::NodeInfo device_node;
00097     boost::shared_ptr<xn::NodeInfo> image_node;
00098     boost::shared_ptr<xn::NodeInfo> depth_node;
00099     boost::shared_ptr<xn::NodeInfo> ir_node;
00100     boost::weak_ptr<OpenNIDevice> device;
00101   };
00102 
00103   OpenNIDriver () throw (OpenNIException);
00104   boost::shared_ptr<OpenNIDevice> getDevice (unsigned index) const throw (OpenNIException);
00105 
00106 #ifndef _WIN32
00107   // workaround to get additional device nformation like serial number, vendor and product name, until Primesense fix this
00108   void getDeviceInfos () throw ();
00109 #endif
00110   
00111   mutable std::vector<DeviceContext> device_context_;
00112   mutable xn::Context context_;
00113 
00114   std::map< unsigned char, std::map<unsigned char, unsigned > > bus_map_;
00115   std::map< std::string, unsigned > serial_map_;
00116   std::map< std::string, unsigned > connection_string_map_;
00117 };
00118 
00119 OpenNIDriver& OpenNIDriver::getInstance () throw (OpenNIException)
00120 {
00121   static OpenNIDriver driver;
00122   return driver;
00123 }
00124 
00125 unsigned OpenNIDriver::getNumberDevices () const throw ()
00126 {
00127   return (unsigned)device_context_.size ();
00128 }
00129 } // namespace
00130 #endif


openni_camera
Author(s): Patrick Mihelich, Suat Gedikli, Radu Bogdan Rusu
autogenerated on Tue Apr 18 2017 02:14:10