freenect_driver.hpp
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00001 #ifndef FREENECT_DRIVER_K8EEAIBB
00002 #define FREENECT_DRIVER_K8EEAIBB
00003 
00004 #include <libfreenect/libfreenect.h>
00005 #include <freenect_camera/freenect_device.hpp>
00006 
00007 namespace freenect_camera {
00008 
00009   class FreenectDriver {
00010 
00011     public:
00012 
00013       static FreenectDriver& getInstance() {
00014         static FreenectDriver instance;
00015         return instance;
00016       }
00017 
00018       void shutdown() {
00019         thread_running_ = false;
00020         freenect_thread_->join();
00021         if (device_)
00022           device_->shutdown();
00023         device_.reset();
00024         freenect_shutdown(driver_);
00025       }
00026 
00027       void updateDeviceList() {
00028         device_serials_.clear();
00029         freenect_device_attributes* attr_list;
00030         freenect_device_attributes* item;
00031         freenect_list_device_attributes(driver_, &attr_list);
00032         for (item = attr_list; item != NULL; item = item->next) {
00033           device_serials_.push_back(std::string(item->camera_serial));
00034         }
00035         freenect_free_device_attributes(attr_list);
00036       }
00037 
00038       unsigned getNumberDevices() {
00039         return device_serials_.size();
00040       }
00041 
00043       unsigned getBus(unsigned device_idx) {
00044         return 0;
00045       }
00046 
00048       unsigned getAddress(unsigned device_idx) {
00049         return 0;
00050       }
00051 
00052       const char* getProductName(unsigned device_idx) {
00053         return PRODUCT_NAME.c_str();
00054       }
00055 
00056       unsigned getProductID(unsigned device_idx) {
00057         return PRODUCT_ID;
00058       }
00059 
00060       const char* getVendorName(unsigned device_idx) {
00061         return VENDOR_NAME.c_str();
00062       }
00063 
00064       unsigned getVendorID(unsigned device_idx) {
00065         return VENDOR_ID;
00066       }
00067 
00068       const char* getSerialNumber(unsigned device_idx) {
00069         if (device_idx < getNumberDevices())
00070           return device_serials_[device_idx].c_str();
00071         throw std::runtime_error("libfreenect: device idx out of range"); 
00072       }
00073 
00074       boost::shared_ptr<FreenectDevice> getDeviceByIndex(unsigned device_idx) {
00075         return getDeviceBySerialNumber(std::string(getSerialNumber(device_idx)));
00076       }
00077 
00078       boost::shared_ptr<FreenectDevice> getDeviceBySerialNumber(std::string serial) {
00079         device_.reset(new FreenectDevice(driver_, serial));
00080         // start freenect thread now that we have device
00081         thread_running_ = true;
00082         freenect_thread_.reset(new boost::thread(boost::bind(&FreenectDriver::process, this)));
00083         return device_;
00084       }
00085 
00086       boost::shared_ptr<FreenectDevice> getDeviceByAddress(unsigned bus, unsigned address) {
00087         throw std::runtime_error("[ERROR] libfreenect does not support searching for device by bus/address");
00088       }
00089 
00090       void process() {
00091         while (thread_running_) {
00092           timeval t;
00093           t.tv_sec = 0;
00094           t.tv_usec = 10000;
00095           if (freenect_process_events_timeout(driver_, &t) < 0)
00096             throw std::runtime_error("freenect_process_events error");
00097           if (device_)
00098             device_->executeChanges();
00099         }
00100       }
00101 
00102       void enableDebug() {
00103         freenect_set_log_level(driver_, FREENECT_LOG_SPEW);
00104       }
00105 
00106     private:
00107       FreenectDriver() {
00108         freenect_init(&driver_, NULL);
00109         freenect_set_log_level(driver_, FREENECT_LOG_FATAL); // Prevent's printing stuff to the screen
00110         freenect_select_subdevices(driver_, (freenect_device_flags)(FREENECT_DEVICE_CAMERA));
00111         thread_running_ = false;
00112       }
00113 
00114       freenect_context* driver_;
00115       std::vector<std::string> device_serials_;
00116       boost::shared_ptr<boost::thread> freenect_thread_;
00117       boost::shared_ptr<FreenectDevice> device_;
00118 
00119       bool thread_running_;
00120   };
00121 
00122 }
00123 
00124 #endif /* end of include guard: FREENECT_DRIVER_K8EEAIBB */


freenect_camera
Author(s): Patrick Mihelich, Suat Gedikli, Radu Bogdan Rusu (original openni_camera driver)., Piyush Khandelwal (libfreenect port).
autogenerated on Sat Jun 8 2019 18:26:45