Point Cloud Library (PCL)  1.3.1
openni_driver.h
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00001 /*
00002  * Software License Agreement (BSD License)
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00005  *    Suat Gedikli <gedikli@willowgarage.com>
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00037 
00038 #include <pcl/pcl_config.h>
00039 #ifdef HAVE_OPENNI
00040 
00041 #ifndef OPENNI_OPENNI_H_
00042 #define OPENNI_OPENNI_H_
00043 #include <string>
00044 #include <vector>
00045 #include <map>
00046 #include "openni_exception.h"
00047 #include "openni_device.h"
00048 #include <boost/shared_ptr.hpp>
00049 #include <boost/weak_ptr.hpp>
00050 #include <XnCppWrapper.h>
00051 
00052 #include <pcl/pcl_macros.h>
00053 
00054 namespace openni_wrapper
00055 {
00056 //class OpenNIDevice;
00064 class PCL_EXPORTS OpenNIDriver
00065 {
00066 public:
00067   ~OpenNIDriver () throw ();
00068 
00069   inline static OpenNIDriver& getInstance ();
00070   unsigned updateDeviceList ();
00071   inline unsigned getNumberDevices () const throw ();
00072 
00073   boost::shared_ptr<OpenNIDevice> createVirtualDevice (const std::string& path, bool repeat, bool stream) const;
00074   boost::shared_ptr<OpenNIDevice> getDeviceByIndex (unsigned index) const;
00075 #ifndef _WIN32
00076   boost::shared_ptr<OpenNIDevice> getDeviceBySerialNumber (const std::string& serial_number) const;
00077   boost::shared_ptr<OpenNIDevice> getDeviceByAddress (unsigned char bus, unsigned char address) const;
00078 #endif
00079 
00080   const char* getSerialNumber (unsigned index) const throw ();
00082   const char* getConnectionString (unsigned index) const throw ();
00083 
00084   const char* getVendorName (unsigned index) const throw ();
00085   const char* getProductName (unsigned index) const throw ();
00086   unsigned short getVendorID (unsigned index) const throw ();
00087   unsigned short getProductID (unsigned index) const throw ();
00088   unsigned char  getBus (unsigned index) const throw ();
00089   unsigned char  getAddress (unsigned index) const throw ();
00090 
00091   void stopAll ();
00092 
00093   static void getDeviceType (const std::string& connection_string, unsigned short& vendorId, unsigned short& productId);
00094 protected:
00095   struct DeviceContext
00096   {
00097     DeviceContext (const xn::NodeInfo& device_node, xn::NodeInfo* image_node, xn::NodeInfo* depth_node, xn::NodeInfo* ir_node);
00098     DeviceContext (const xn::NodeInfo& device_node);
00099     DeviceContext (const DeviceContext&);
00100     xn::NodeInfo device_node;
00101     boost::shared_ptr<xn::NodeInfo> image_node;
00102     boost::shared_ptr<xn::NodeInfo> depth_node;
00103     boost::shared_ptr<xn::NodeInfo> ir_node;
00104     boost::weak_ptr<OpenNIDevice> device;
00105   };
00106 
00107   OpenNIDriver ();
00108   boost::shared_ptr<OpenNIDevice> getDevice (unsigned index) const;
00109 
00110 #ifndef _WIN32
00111   // workaround to get additional device nformation like serial number, vendor and product name, until Primesense fix this
00112   void getDeviceInfos () throw ();
00113 #endif
00114 
00115   mutable std::vector<DeviceContext> device_context_;
00116   mutable xn::Context context_;
00117 
00118   std::map< unsigned char, std::map<unsigned char, unsigned > > bus_map_;
00119   std::map< std::string, unsigned > serial_map_;
00120   std::map< std::string, unsigned > connection_string_map_;
00121 };
00122 
00123 OpenNIDriver& OpenNIDriver::getInstance ()
00124 {
00125   static OpenNIDriver driver;
00126   return driver;
00127 }
00128 
00129 unsigned OpenNIDriver::getNumberDevices () const throw ()
00130 {
00131   return (unsigned)device_context_.size ();
00132 }
00133 } // namespace
00134 #endif
00135 #endif
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