oni_grabber.h

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/*
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#include "pcl/pcl_config.h"
#ifdef HAVE_OPENNI

#ifndef __PCL_IO_ONI_PLAYER__
#define __PCL_IO_ONI_PLAYER__

#include <Eigen/Core>
#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 <boost/thread/mutex.hpp>
#include <pcl/common/synchronizer.h>


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

  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_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;

  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::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_;

  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  } ;

} // namespace

#endif // __PCL_IO_ONI_PLAYER__
#endif // HAVE_OPENNI