openni_device_oni.cpp

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011 2011 Willow Garage, Inc.
 *    Suat Gedikli <gedikli@willowgarage.com>
 *
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#include <openni_camera/openni_device_oni.h>
#include <openni_camera/openni_image_rgb24.h>

using namespace std;
using namespace boost;

namespace openni_wrapper
{

DeviceONI::DeviceONI(xn::Context& context, const std::string& file_name, bool repeat, bool streaming) throw (OpenNIException)
  : OpenNIDevice(context)
  , streaming_ (streaming)
  , depth_stream_running_ (false)
  , image_stream_running_ (false)
  , ir_stream_running_ (false)
{
  XnStatus status;
  status = context_.OpenFileRecording(file_name.c_str());
  if (status != XN_STATUS_OK)
    THROW_OPENNI_EXCEPTION("Could not open ONI file. Reason: %s", xnGetStatusString(status));

  status = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth_generator_);
  if (status != XN_STATUS_OK)
    THROW_OPENNI_EXCEPTION("could not find depth stream in file %s. Reason: %s", file_name.c_str(), xnGetStatusString(status));
  else
  {
    available_depth_modes_.push_back(getDepthOutputMode());
    depth_generator_.RegisterToNewDataAvailable ((xn::StateChangedHandler)NewONIDepthDataAvailable, this, depth_callback_handle_);
  }

  status = context.FindExistingNode(XN_NODE_TYPE_IMAGE, image_generator_);
  if (status == XN_STATUS_OK)
  {
    available_image_modes_.push_back(getImageOutputMode());
    image_generator_.RegisterToNewDataAvailable ((xn::StateChangedHandler)NewONIImageDataAvailable, this, image_callback_handle_);
  }
  
  status = context.FindExistingNode(XN_NODE_TYPE_IR, ir_generator_);
  if (status == XN_STATUS_OK)
    ir_generator_.RegisterToNewDataAvailable ((xn::StateChangedHandler)NewONIIRDataAvailable, this, ir_callback_handle_); 
  
  status = context.FindExistingNode(XN_NODE_TYPE_PLAYER, player_);
  if (status != XN_STATUS_OK)
    THROW_OPENNI_EXCEPTION("Failed to find player node: %s\n", xnGetStatusString(status));

  device_node_info_ = player_.GetInfo();

  Init ();

  player_.SetRepeat(repeat);
  if (streaming_)
    player_thread_ = boost::thread (&DeviceONI::PlayerThreadFunction, this);
}

DeviceONI::~DeviceONI() throw ()
{
  if (streaming_)
  {
    quit_ = true;
    player_thread_.join();
  }
}

void DeviceONI::startImageStream () throw (OpenNIException)
{
  if (hasImageStream() && !image_stream_running_)
    image_stream_running_ = true;
}

void DeviceONI::stopImageStream () throw (OpenNIException)
{
  if (hasImageStream() && image_stream_running_)
    image_stream_running_ = false;
}

void DeviceONI::startDepthStream () throw (OpenNIException)
{
  if (hasDepthStream() && !depth_stream_running_)
    depth_stream_running_ = true;
}

void DeviceONI::stopDepthStream () throw (OpenNIException)
{
  if (hasDepthStream() && depth_stream_running_)
    depth_stream_running_ = false;
}

void DeviceONI::startIRStream () throw (OpenNIException)
{
  if (hasIRStream() && !ir_stream_running_)
    ir_stream_running_ = true;
}

void DeviceONI::stopIRStream () throw (OpenNIException)
{
  if (hasIRStream() && ir_stream_running_)
    ir_stream_running_ = false;
}

bool DeviceONI::isImageStreamRunning () const throw (OpenNIException)
{
 return image_stream_running_;
}

bool DeviceONI::isDepthStreamRunning () const throw (OpenNIException)
{
  return depth_stream_running_;
}

bool DeviceONI::isIRStreamRunning () const throw (OpenNIException)
{
  return ir_stream_running_;
}

bool DeviceONI::trigger () throw (OpenNIException)
{
  if (player_.IsEOF())
    return false;
  
  if (streaming_)
    THROW_OPENNI_EXCEPTION ("Virtual device is in streaming mode. Trigger not available.");
  
  player_.ReadNext();
  return true;
}

bool DeviceONI::isStreaming () const throw (OpenNIException)
{
  return streaming_;
}

void DeviceONI::PlayerThreadFunction() throw (OpenNIException)
{
  quit_ = false;
  while (!quit_)
    player_.ReadNext();
}

void __stdcall DeviceONI::NewONIDepthDataAvailable (xn::ProductionNode& node, void* cookie) throw ()
{
  DeviceONI* device = reinterpret_cast<DeviceONI*>(cookie);
  if (device->depth_stream_running_)
    device->depth_condition_.notify_all ();
}

void __stdcall DeviceONI::NewONIImageDataAvailable (xn::ProductionNode& node, void* cookie) throw ()
{
  DeviceONI* device = reinterpret_cast<DeviceONI*>(cookie);
  if (device->image_stream_running_)
    device->image_condition_.notify_all ();
}

void __stdcall DeviceONI::NewONIIRDataAvailable (xn::ProductionNode& node, void* cookie) throw ()
{
  DeviceONI* device = reinterpret_cast<DeviceONI*>(cookie);
  if (device->ir_stream_running_)
    device->ir_condition_.notify_all ();
}

boost::shared_ptr<Image> DeviceONI::getCurrentImage(boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ()
{
  return boost::shared_ptr<Image > (new ImageRGB24(image_meta_data));
}

bool DeviceONI::isImageResizeSupported(unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ()
{
  return ImageRGB24::resizingSupported (input_width, input_height, output_width, output_height);
}

}