v01

thirdparty/Pangolin/include/pangolin/video/drivers/depthsense.h

@@ -0,0 +1,171 @@
+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * Copyright (c) 2014 Steven Lovegrove
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <pangolin/pangolin.h>
+#include <pangolin/video/iostream_operators.h>
+#include <pangolin/video/video.h>
+
+#include <thread>
+#include <mutex>
+#include <condition_variable>
+
+// DepthSense SDK for SoftKinetic cameras from Creative
+#include <DepthSense.hxx>
+
+namespace pangolin
+{
+
+enum DepthSenseSensorType
+{
+    DepthSenseUnassigned = -1,
+    DepthSenseRgb = 0,
+    DepthSenseDepth
+};
+
+// Video class that outputs test video signal.
+class PANGOLIN_EXPORT DepthSenseVideo :
+        public VideoInterface, public VideoPropertiesInterface
+{
+public:
+    DepthSenseVideo(DepthSense::Device device, DepthSenseSensorType s1, DepthSenseSensorType s2, ImageDim dim1, ImageDim dim2, unsigned int fps1, unsigned int fps2, const Uri& uri);
+    ~DepthSenseVideo();
+    
+    //! Implement VideoInput::Start()
+    void Start();
+    
+    //! Implement VideoInput::Stop()
+    void Stop();
+
+    //! Implement VideoInput::SizeBytes()
+    size_t SizeBytes() const;
+
+    //! Implement VideoInput::Streams()
+    const std::vector<StreamInfo>& Streams() const;
+    
+    //! Implement VideoInput::GrabNext()
+    bool GrabNext( unsigned char* image, bool wait = true );
+    
+    //! Implement VideoInput::GrabNewest()
+    bool GrabNewest( unsigned char* image, bool wait = true );
+    
+    //! Implement VideoInput::DeviceProperties()
+    const picojson::value& DeviceProperties() const {
+        return device_properties;
+    }
+
+    //! Implement VideoInput::DeviceProperties()
+    const picojson::value& FrameProperties() const {
+        return frame_properties;
+    }
+protected:
+    void onNewColorSample(DepthSense::ColorNode node, DepthSense::ColorNode::NewSampleReceivedData data);
+    void onNewDepthSample(DepthSense::DepthNode node, DepthSense::DepthNode::NewSampleReceivedData data);
+
+    struct SensorConfig
+    {
+        DepthSenseSensorType type;
+        ImageDim dim;
+        unsigned int fps;
+    };
+
+    void UpdateParameters(const DepthSense::Node& node, const Uri& uri);
+    void ConfigureNodes(const Uri& uri);
+    void ConfigureDepthNode(const SensorConfig& sensorConfig, const Uri& uri);
+    void ConfigureColorNode(const SensorConfig& sensorConfig, const Uri& uri);
+
+    double GetDeltaTime() const;
+
+    std::vector<StreamInfo> streams;
+    picojson::value device_properties;
+    picojson::value frame_properties;
+    picojson::value* streams_properties;
+
+
+    DepthSense::Device device;
+    DepthSense::DepthNode g_dnode;
+    DepthSense::ColorNode g_cnode;
+
+    unsigned char* fill_image;
+
+    int depthmap_stream;
+    int rgb_stream;
+
+    int gotDepth;
+    int gotColor;
+    std::mutex update_mutex;
+    std::condition_variable cond_image_filled;
+    std::condition_variable cond_image_requested;
+
+    SensorConfig sensorConfig[2];
+
+    bool enableDepth;
+    bool enableColor;
+    double depthTs;
+    double colorTs;
+
+    size_t size_bytes;
+};
+
+class DepthSenseContext
+{
+    friend class DepthSenseVideo;
+
+public:
+    // Singleton Instance
+    static DepthSenseContext& I();
+
+    DepthSenseVideo* GetDepthSenseVideo(size_t device_num, DepthSenseSensorType s1, DepthSenseSensorType s2, ImageDim dim1, ImageDim dim2, unsigned int fps1, unsigned int fps2, const Uri& uri);
+
+protected:
+    // Protected Constructor 
+    DepthSenseContext();
+    ~DepthSenseContext();
+
+    DepthSense::Context& Context();
+
+    void NewDeviceRunning();
+    void DeviceClosing();
+
+    void StartNodes();
+    void StopNodes();
+
+    void EventLoop();
+
+    void onDeviceConnected(DepthSense::Context context, DepthSense::Context::DeviceAddedData data);
+    void onDeviceDisconnected(DepthSense::Context context, DepthSense::Context::DeviceRemovedData data);
+
+    DepthSense::Context g_context;
+
+    std::thread event_thread;
+    bool is_running;
+
+    int running_devices;
+};
+
+}