fotonic_grabber.h
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#include <pcl/pcl_config.h>
#ifdef HAVE_FZAPI
#ifndef __PCL_IO_FOTONIC_GRABBER__
#define __PCL_IO_FOTONIC_GRABBER__
#include <pcl/io/eigen.h>
#include <pcl/io/boost.h>
#include <pcl/io/grabber.h>
#include <pcl/common/synchronizer.h>
#include <boost/thread.hpp>
#include <fz_api.h>
#include <string>
#include <deque>
namespace pcl
{
struct PointXYZ;
struct PointXYZRGB;
struct PointXYZRGBA;
struct PointXYZI;
template <typename T> class PointCloud;
/** \brief Grabber for Fotonic devices
* \author Stefan Holzer <holzers@in.tum.de>
* \ingroup io
*/
class PCL_EXPORTS FotonicGrabber : public Grabber
{
public:
typedef enum
{
Fotonic_Default_Mode = 0, // This can depend on the device. For now all devices (PSDK, Xtion, Kinect) its VGA@30Hz
} Mode;
//define callback signature typedefs
typedef void (sig_cb_fotonic_point_cloud) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZ> >&);
typedef void (sig_cb_fotonic_point_cloud_rgb) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGB> >&);
typedef void (sig_cb_fotonic_point_cloud_rgba) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGBA> >&);
typedef void (sig_cb_fotonic_point_cloud_i) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&);
public:
/** \brief Constructor
* \param[in] device_id ID of the device, which might be a serial number, bus@address or the index of the device.
* \param[in] depth_mode the mode of the depth stream
* \param[in] image_mode the mode of the image stream
*/
FotonicGrabber (const FZ_DEVICE_INFO& device_info,
const Mode& depth_mode = Fotonic_Default_Mode,
const Mode& image_mode = Fotonic_Default_Mode);
/** \brief virtual Destructor inherited from the Grabber interface. It never throws. */
virtual ~FotonicGrabber () throw ();
/** \brief Initializes the Fotonic API. */
static void
initAPI ();
/** \brief Exits the Fotonic API. */
static void
exitAPI ();
/** \brief Searches for available devices. */
static std::vector<FZ_DEVICE_INFO>
enumDevices ();
/** \brief Start the data acquisition. */
virtual void
start ();
/** \brief Stop the data acquisition. */
virtual void
stop ();
/** \brief Check if the data acquisition is still running. */
virtual bool
isRunning () const;
virtual std::string
getName () const;
/** \brief Obtain the number of frames per second (FPS). */
virtual float
getFramesPerSecond () const;
protected:
/** \brief On initialization processing. */
void
onInit (const FZ_DEVICE_INFO& device_info, const Mode& depth_mode, const Mode& image_mode);
/** \brief Sets up an OpenNI device. */
void
setupDevice (const FZ_DEVICE_INFO& device_info, const Mode& depth_mode, const Mode& image_mode);
/** \brief Continously asks for data from the device and publishes it if available. */
void
processGrabbing ();
boost::signals2::signal<sig_cb_fotonic_point_cloud>* point_cloud_signal_;
//boost::signals2::signal<sig_cb_fotonic_point_cloud_i>* point_cloud_i_signal_;
boost::signals2::signal<sig_cb_fotonic_point_cloud_rgb>* point_cloud_rgb_signal_;
boost::signals2::signal<sig_cb_fotonic_point_cloud_rgba>* point_cloud_rgba_signal_;
protected:
bool running_;
FZ_Device_Handle_t * fotonic_device_handle_;
boost::thread grabber_thread_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace pcl
#endif // __PCL_IO_FOTONIC_GRABBER__
#endif // HAVE_FOTONIC
boost
Definition: boost_graph.h:47
pcl
Definition: convolution.h:45
std
Definition: multi_grid_octree_data.hpp:45
pcl::device::PointXYZRGB
float4 PointXYZRGB
Definition: internal.hpp:60
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Definition: projection_matrix.h:53