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/*****************************************************************************
* *
* OpenNI 2.x Alpha *
* Copyright (C) 2012 PrimeSense Ltd. *
* *
* This file is part of OpenNI. *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); *
* you may not use this file except in compliance with the License. *
* You may obtain a copy of the License at *
* *
* http://www.apache.org/licenses/LICENSE-2.0 *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* *
*****************************************************************************/
#ifndef _ONI_IMPL_STREAM_H_
#define _ONI_IMPL_STREAM_H_
#include "OniDriverHandler.h"
#include "OniCommon.h"
#include "OniFrameHolder.h"
#include "OniFrameManager.h"
#include "OniSensor.h"
#include "XnEvent.h"
#include "XnErrorLogger.h"
#include "XnHash.h"
#include "XnLockable.h"
ONI_NAMESPACE_IMPLEMENTATION_BEGIN
class Device;
class FrameHolder;
class Recorder;
class VideoStream
{
public:
VideoStream(Sensor* pSensor, const OniSensorInfo* pSensorInfo, Device& device, const DriverHandler& driverHandler, FrameManager& frameManager, xnl::ErrorLogger& errorLogger);
virtual ~VideoStream();
typedef void (XN_CALLBACK_TYPE* NewFrameFuncPtr)(void* pCookie);
void setNewFrameCallback(NewFrameFuncPtr callback, void* pCookie) { m_newFrameCallback = callback; m_newFrameCookie = pCookie; }
OniStatus start();
void stop();
OniBool isStarted();
OniStatus readFrame(OniFrame** pFrame);
OniFrame* peekFrame();
void lockFrame();
void unlockFrame();
OniStatus setProperty(int propertyId, const void* data, int dataSize);
OniStatus getProperty(int propertyId, void* data, int* pDataSize);
OniBool isPropertySupported(int propertyId);
OniStatus invoke(int commandId, void* data, int dataSize);
OniBool isCommandSupported(int commandId);
void notifyAllProperties();
OniStatus registerNewFrameCallback(OniGeneralCallback handler, void* pCookie, XnCallbackHandle* pHandle);
void unregisterNewFrameCallback(XnCallbackHandle handle);
const OniSensorInfo* getSensorInfo() const;
Device& getDevice();
void* getHandle() const;
void setFrameHolder(FrameHolder* pFrameHolder);
FrameHolder* getFrameHolder();
void raiseNewFrameEvent();
XnStatus waitForNewFrameEvent();
OniStatus addRecorder(Recorder& aRecorder);
OniStatus removeRecorder(Recorder& aRecorder);
OniStatus setFrameBufferAllocator(OniFrameAllocBufferCallback alloc, OniFrameFreeBufferCallback free, void* pCookie);
OniStatus convertDepthToWorldCoordinates(float depthX, float depthY, float depthZ, float* pWorldX, float* pWorldY, float* pWorldZ);
OniStatus convertWorldToDepthCoordinates(float worldX, float worldY, float worldZ, float* pDepthX, float* pDepthY, float* pDepthZ);
OniStatus convertDepthToColorCoordinates(VideoStream* colorStream, int depthX, int depthY, OniDepthPixel depthZ, int* pColorX, int* pColorY);
int getRequiredFrameSize();
protected:
XN_EVENT_HANDLE m_newFrameInternalEvent;
XN_EVENT_HANDLE m_newFrameInternalEventForFrameHolder;
xnl::ErrorLogger& m_errorLogger;
private:
XN_DISABLE_COPY_AND_ASSIGN(VideoStream)
FrameHolder* m_pFrameHolder;
xnl::EventNoArgs m_newFrameEvent;
XN_THREAD_HANDLE m_newFrameThread;
OniSensorInfo* m_pSensorInfo;
static XN_THREAD_PROC newFrameThread(XN_THREAD_PARAM pThreadParam);
void newFrameThreadMainloop();
bool m_running;
static void ONI_CALLBACK_TYPE stream_NewFrame(OniFrame* pFrame, void* pCookie);
static void ONI_CALLBACK_TYPE stream_PropertyChanged(void* streamHandle, int propertyId, const void* data, int dataSize, void* pCookie);
void refreshWorldConversionCache();
NewFrameFuncPtr m_newFrameCallback;
void* m_newFrameCookie;
Device& m_device;
const DriverHandler& m_driverHandler;
FrameManager& m_frameManager;
Sensor* m_pSensor;
XnCallbackHandle m_hNewFrameEvent;
OniBool m_started;
// XnLib does not provide a set container. I decided to use this odd
// Recorder* -> Recorder* map to mimic a set.
typedef xnl::Lockable<xnl::Hash<Recorder*, Recorder*> > Recorders;
Recorders m_recorders;
struct WorldConversionCache
{
float xzFactor;
float yzFactor;
float coeffX;
float coeffY;
int resolutionX;
int resolutionY;
int halfResX;
int halfResY;
} m_worldConvertCache;
};
ONI_NAMESPACE_IMPLEMENTATION_END
#endif // _ONI_IMPL_STREAM_H_
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