depth_sense_device_manager.h
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#pragma once
#include <boost/utility.hpp>
#include <pcl/pcl_exports.h>
#include <DepthSense.hxx>
#include <memory>
#include <thread>
namespace pcl
{
namespace io
{
namespace depth_sense
{
struct DepthSenseGrabberImpl;
/** A helper class for enumerating and managing access to DepthSense
* devices. */
class PCL_EXPORTS DepthSenseDeviceManager : boost::noncopyable
{
public:
using Ptr = std::shared_ptr<DepthSenseDeviceManager>;
static Ptr&
getInstance ()
{
static Ptr instance;
if (!instance)
{
std::lock_guard<std::mutex> lock (mutex_);
if (!instance)
instance.reset (new DepthSenseDeviceManager);
}
return (instance);
}
/** Get the number of connected DepthSense devices. */
inline std::size_t
getNumDevices ()
{
return (context_.getDevices ().size ());
}
/** Capture first available device and associate it with a given
* grabber instance. */
std::string
captureDevice (DepthSenseGrabberImpl* grabber);
/** Capture the device with given index and associate it with a given
* grabber instance. */
std::string
captureDevice (DepthSenseGrabberImpl* grabber, std::size_t index);
/** Capture the device with given serial number and associate it with
* a given grabber instance. */
std::string
captureDevice (DepthSenseGrabberImpl* grabber, const std::string& sn);
/** Release DepthSense device with given serial number. */
void
releaseDevice (const std::string& sn);
/** Reconfigure DepthSense device with given serial number. */
void
reconfigureDevice (const std::string& sn);
/** Start data capturing for a given device. */
void
startDevice (const std::string& sn);
/** Stop data capturing for a given device. */
void
stopDevice (const std::string& sn);
~DepthSenseDeviceManager ();
private:
DepthSenseDeviceManager ();
std::string
captureDevice (DepthSenseGrabberImpl* grabber, DepthSense::Device device);
inline bool
isCaptured (const std::string& sn) const
{
return (captured_devices_.count (sn) != 0);
}
DepthSense::Context context_;
static std::mutex mutex_;
/// Thread where the grabbing takes place.
std::thread depth_sense_thread_;
struct CapturedDevice
{
DepthSenseGrabberImpl* grabber;
DepthSense::DepthNode depth_node;
DepthSense::ColorNode color_node;
};
std::map<std::string, CapturedDevice> captured_devices_;
};
} // namespace depth_sense
} // namespace io
} // namespace pcl
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::io::depth_sense::DepthSenseDeviceManager
A helper class for enumerating and managing access to DepthSense devices.
Definition: depth_sense_device_manager.h:62
pcl::io::depth_sense::DepthSenseDeviceManager::getInstance
static Ptr & getInstance()
Definition: depth_sense_device_manager.h:70
pcl::io::depth_sense::DepthSenseDeviceManager::Ptr
std::shared_ptr< DepthSenseDeviceManager > Ptr
Definition: depth_sense_device_manager.h:67
pcl::io::depth_sense::DepthSenseDeviceManager::getNumDevices
std::size_t getNumDevices()
Get the number of connected DepthSense devices.
Definition: depth_sense_device_manager.h:84
pcl::io::depth_sense::DepthSenseGrabberImpl
Definition: depth_sense_grabber_impl.h:58
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:253