Point Cloud Library (PCL) 1.13.1
Loading...
Searching...
No Matches
depth_sense_device_manager.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2014-, Open Perception, Inc.
6 *
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of the copyright holder(s) nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *
36 */
37
38#pragma once
39
40#include <boost/utility.hpp>
41
42#include <pcl/pcl_exports.h>
43
44#include <DepthSense.hxx>
45
46#include <memory>
47#include <thread>
48
49namespace pcl
50{
51
52 namespace io
53 {
54
55 namespace depth_sense
56 {
57
59
60 /** A helper class for enumerating and managing access to DepthSense
61 * devices. */
62 class PCL_EXPORTS DepthSenseDeviceManager : boost::noncopyable
63 {
64
65 public:
66
67 using Ptr = std::shared_ptr<DepthSenseDeviceManager>;
68
69 static Ptr&
71 {
72 static Ptr instance;
73 if (!instance)
74 {
75 std::lock_guard<std::mutex> lock (mutex_);
76 if (!instance)
77 instance.reset (new DepthSenseDeviceManager);
78 }
79 return (instance);
80 }
81
82 /** Get the number of connected DepthSense devices. */
83 inline std::size_t
85 {
86 return (context_.getDevices ().size ());
87 }
88
89 /** Capture first available device and associate it with a given
90 * grabber instance. */
91 std::string
93
94 /** Capture the device with given index and associate it with a given
95 * grabber instance. */
96 std::string
97 captureDevice (DepthSenseGrabberImpl* grabber, std::size_t index);
98
99 /** Capture the device with given serial number and associate it with
100 * a given grabber instance. */
101 std::string
102 captureDevice (DepthSenseGrabberImpl* grabber, const std::string& sn);
103
104 /** Release DepthSense device with given serial number. */
105 void
106 releaseDevice (const std::string& sn);
107
108 /** Reconfigure DepthSense device with given serial number. */
109 void
110 reconfigureDevice (const std::string& sn);
111
112 /** Start data capturing for a given device. */
113 void
114 startDevice (const std::string& sn);
115
116 /** Stop data capturing for a given device. */
117 void
118 stopDevice (const std::string& sn);
119
121
122 private:
123
125
126 std::string
127 captureDevice (DepthSenseGrabberImpl* grabber, DepthSense::Device device);
128
129 inline bool
130 isCaptured (const std::string& sn) const
131 {
132 return (captured_devices_.count (sn) != 0);
133 }
134
135 DepthSense::Context context_;
136
137 static std::mutex mutex_;
138
139 /// Thread where the grabbing takes place.
140 std::thread depth_sense_thread_;
141
142 struct CapturedDevice
143 {
144 DepthSenseGrabberImpl* grabber;
145 DepthSense::DepthNode depth_node;
146 DepthSense::ColorNode color_node;
147 };
148
149 std::map<std::string, CapturedDevice> captured_devices_;
150
151 };
152
153 } // namespace depth_sense
154
155 } // namespace io
156
157} // namespace pcl
A helper class for enumerating and managing access to DepthSense devices.
void releaseDevice(const std::string &sn)
Release DepthSense device with given serial number.
void reconfigureDevice(const std::string &sn)
Reconfigure DepthSense device with given serial number.
void startDevice(const std::string &sn)
Start data capturing for a given device.
std::string captureDevice(DepthSenseGrabberImpl *grabber)
Capture first available device and associate it with a given grabber instance.
void stopDevice(const std::string &sn)
Stop data capturing for a given device.
std::string captureDevice(DepthSenseGrabberImpl *grabber, const std::string &sn)
Capture the device with given serial number and associate it with a given grabber instance.
std::size_t getNumDevices()
Get the number of connected DepthSense devices.
std::string captureDevice(DepthSenseGrabberImpl *grabber, std::size_t index)
Capture the device with given index and associate it with a given grabber instance.
std::shared_ptr< DepthSenseDeviceManager > Ptr