oni_grabber.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011-2012, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
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#include <pcl/pcl_config.h>
#ifdef HAVE_OPENNI

#ifndef __PCL_IO_ONI_PLAYER__
#define __PCL_IO_ONI_PLAYER__

#include <pcl/io/eigen.h>
#include <pcl/io/boost.h>
#include <pcl/io/grabber.h>
#include <pcl/io/openni_camera/openni_driver.h>
#include <pcl/io/openni_camera/openni_device_oni.h>
#include <pcl/io/openni_camera/openni_image.h>
#include <pcl/io/openni_camera/openni_depth_image.h>
#include <pcl/io/openni_camera/openni_ir_image.h>
#include <string>
#include <deque>
#include <pcl/common/synchronizer.h>

namespace pcl
{
  template <typename T> class PointCloud;
  struct PointXYZ;
  struct PointXYZRGB;
  struct PointXYZRGBA;
  struct PointXYZI;

  class PCL_EXPORTS ONIGrabber : public Grabber
  {
    public:
      //define callback signature typedefs
      typedef void (sig_cb_openni_image) (const boost::shared_ptr<openni_wrapper::Image>&);
      typedef void (sig_cb_openni_depth_image) (const boost::shared_ptr<openni_wrapper::DepthImage>&);
      typedef void (sig_cb_openni_ir_image) (const boost::shared_ptr<openni_wrapper::IRImage>&);
      typedef void (sig_cb_openni_image_depth_image) (const boost::shared_ptr<openni_wrapper::Image>&, const boost::shared_ptr<openni_wrapper::DepthImage>&, float constant) ;
      typedef void (sig_cb_openni_ir_depth_image) (const boost::shared_ptr<openni_wrapper::IRImage>&, const boost::shared_ptr<openni_wrapper::DepthImage>&, float constant) ;
      typedef void (sig_cb_openni_point_cloud) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZ> >&);
      typedef void (sig_cb_openni_point_cloud_rgb) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGB> >&);
      typedef void (sig_cb_openni_point_cloud_rgba) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGBA> >&);
      typedef void (sig_cb_openni_point_cloud_i) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&);

      ONIGrabber (const std::string& file_name, bool repeat, bool stream);

      virtual ~ONIGrabber () throw ();

      virtual void 
      start ();

      virtual void 
      stop ();

      virtual std::string 
      getName () const;

      virtual bool 
      isRunning () const;

      virtual float 
      getFramesPerSecond () const;

      inline bool
      hasDataLeft ()
      {
        return (device_->hasDataLeft ());
      }

     protected:
      void
      imageCallback (boost::shared_ptr<openni_wrapper::Image> image, void* cookie);

      void
      depthCallback (boost::shared_ptr<openni_wrapper::DepthImage> depth_image, void* cookie);

      void
      irCallback (boost::shared_ptr<openni_wrapper::IRImage> ir_image, void* cookie);

      void
      imageDepthImageCallback (const boost::shared_ptr<openni_wrapper::Image> &image,
                               const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image);

      void
      irDepthImageCallback (const boost::shared_ptr<openni_wrapper::IRImage> &image,
                            const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image);

      boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> >
      convertToXYZPointCloud (const boost::shared_ptr<openni_wrapper::DepthImage> &depth) const;

      boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> >
      convertToXYZRGBPointCloud (const boost::shared_ptr<openni_wrapper::Image> &image,
                                 const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image) const;

      boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >
      convertToXYZRGBAPointCloud (const boost::shared_ptr<openni_wrapper::Image> &image,
                                  const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image) const;

      boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >
      convertToXYZIPointCloud (const boost::shared_ptr<openni_wrapper::IRImage> &image,
                               const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image) const;

      Synchronizer<boost::shared_ptr<openni_wrapper::Image>, boost::shared_ptr<openni_wrapper::DepthImage> > rgb_sync_;

      Synchronizer<boost::shared_ptr<openni_wrapper::IRImage>, boost::shared_ptr<openni_wrapper::DepthImage> > ir_sync_;

      boost::shared_ptr<openni_wrapper::DeviceONI> device_;
      std::string rgb_frame_id_;
      std::string depth_frame_id_;
      bool running_;
      unsigned image_width_;
      unsigned image_height_;
      unsigned depth_width_;
      unsigned depth_height_;
      openni_wrapper::OpenNIDevice::CallbackHandle depth_callback_handle;
      openni_wrapper::OpenNIDevice::CallbackHandle image_callback_handle;
      openni_wrapper::OpenNIDevice::CallbackHandle ir_callback_handle;
      boost::signals2::signal<sig_cb_openni_image >*            image_signal_;
      boost::signals2::signal<sig_cb_openni_depth_image >*      depth_image_signal_;
      boost::signals2::signal<sig_cb_openni_ir_image >*         ir_image_signal_;
      boost::signals2::signal<sig_cb_openni_image_depth_image>* image_depth_image_signal_;
      boost::signals2::signal<sig_cb_openni_ir_depth_image>*    ir_depth_image_signal_;
      boost::signals2::signal<sig_cb_openni_point_cloud >*      point_cloud_signal_;
      boost::signals2::signal<sig_cb_openni_point_cloud_i >*    point_cloud_i_signal_;
      boost::signals2::signal<sig_cb_openni_point_cloud_rgb >*  point_cloud_rgb_signal_;
      boost::signals2::signal<sig_cb_openni_point_cloud_rgba >*  point_cloud_rgba_signal_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };

} // namespace

#endif // __PCL_IO_ONI_PLAYER__
#endif // HAVE_OPENNI