reader_openni.hpp

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/*
 * SPDX-FileCopyrightText: 2014 University of Edinburgh, Imperial College London, University of Manchester
 * SPDX-FileCopyrightText: 2016-2019 Emanuele Vespa
 * SPDX-FileCopyrightText: 2020-2022 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2020-2022 Nils Funk
 * SPDX-FileCopyrightText: 2020-2022 Sotiris Papatheodorou
 * SPDX-License-Identifier: MIT
 */
 
#ifndef __READER_OPENNI_HPP
#define __READER_OPENNI_HPP
 
#include "reader_base.hpp"
 
#ifdef SE_OPENNI2
#    include <openni2/OpenNI.h>
#endif
 
namespace se {
 
class OpenNIReader : public Reader {
    public:
    OpenNIReader(const Config& c);
 
    ~OpenNIReader();
 
    void restart();
 
    std::string name() const;
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    private:
#ifdef SE_OPENNI2
    template<typename T>
    class MyFrameAllocator : public openni::VideoStream::FrameAllocator {
        public:
        MyFrameAllocator(T* buffer) : buffer_(buffer)
        {
        }
        void* allocateFrameBuffer(int)
        {
            return buffer_;
        }
        void freeFrameBuffer(void*)
        {
        }
 
        private:
        T* buffer_;
    };
 
    std::unique_ptr<MyFrameAllocator<uint16_t>> depth_allocator_;
    std::unique_ptr<MyFrameAllocator<uint8_t>> rgb_allocator_;
 
    openni::Status rc_;
    openni::Device device_;
    openni::VideoStream depth_stream_;
    openni::VideoStream rgb_stream_;
    openni::VideoFrameRef depth_frame_;
    openni::VideoFrameRef rgb_frame_;
    std::unique_ptr<uint16_t> depth_image_;
    std::unique_ptr<uint8_t> rgb_image_;
#endif
 
    ReaderStatus nextDepth(Image<float>& depth_image);
 
    ReaderStatus nextColour(Image<RGB>& colour_image);
};
 
} // namespace se
 
#endif