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Merge pull request #1401 from taketwo/add-real-sense
Add RealSense SDK grabber and viewer
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,67 @@ | ||
| ############################################################################### | ||
| # Find Intel RealSense SDK | ||
| # | ||
| # find_package(RSSDK) | ||
| # | ||
| # Variables defined by this module: | ||
| # | ||
| # RSSDK_FOUND True if RealSense SDK was found | ||
| # RSSDK_VERSION The version of RealSense SDK | ||
| # RSSDK_INCLUDE_DIRS The location(s) of RealSense SDK headers | ||
| # RSSDK_LIBRARIES Libraries needed to use RealSense SDK | ||
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| find_path(RSSDK_DIR include/pxcversion.h | ||
| PATHS "$ENV{RSSDK_DIR}" | ||
| "$ENV{PROGRAMFILES}/Intel/RSSDK" | ||
| "$ENV{PROGRAMW6432}/Intel/RSSDK" | ||
| "C:/Program Files (x86)/Intel/RSSDK" | ||
| "C:/Program Files/Intel/RSSDK" | ||
| DOC "RealSense SDK directory") | ||
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| if(RSSDK_DIR) | ||
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| # Include directories | ||
| set(RSSDK_INCLUDE_DIRS ${RSSDK_DIR}/include) | ||
| mark_as_advanced(RSSDK_INCLUDE_DIRS) | ||
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| # Libraries | ||
| set(RSSDK_RELEASE_NAME libpxc.lib) | ||
| set(RSSDK_DEBUG_NAME libpxc_d.lib) | ||
| find_library(RSSDK_LIBRARY | ||
| NAMES ${RSSDK_RELEASE_NAME} | ||
| PATHS "${RSSDK_DIR}/lib/" NO_DEFAULT_PATH | ||
| PATH_SUFFIXES x64 Win32) | ||
| find_library(RSSDK_LIBRARY_DEBUG | ||
| NAMES ${RSSDK_DEBUG_NAME} ${RSSDK_RELEASE_NAME} | ||
| PATHS "${RSSDK_DIR}/lib/" NO_DEFAULT_PATH | ||
| PATH_SUFFIXES x64 Win32) | ||
| if(NOT RSSDK_LIBRARY_DEBUG) | ||
| set(RSSDK_LIBRARY_DEBUG ${RSSDK_LIBRARY}) | ||
| endif() | ||
| set(RSSDK_LIBRARIES optimized ${RSSDK_LIBRARY} debug ${RSSDK_LIBRARY_DEBUG}) | ||
| mark_as_advanced(RSSDK_LIBRARY RSSDK_LIBRARY_DEBUG) | ||
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| # Version | ||
| set(RSSDK_VERSION 0) | ||
| file(STRINGS "${RSSDK_INCLUDE_DIRS}/pxcversion.h" _pxcversion_H_CONTENTS REGEX "#define PXC_VERSION_.*") | ||
| set(_RSSDK_VERSION_REGEX "([0-9]+)") | ||
| foreach(v MAJOR MINOR BUILD REVISION) | ||
| if("${_pxcversion_H_CONTENTS}" MATCHES ".*#define PXC_VERSION_${v} *${_RSSDK_VERSION_REGEX}.*") | ||
| set(RSSDK_VERSION_${v} "${CMAKE_MATCH_1}") | ||
| endif() | ||
| endforeach() | ||
| unset(_pxcversion_H_CONTENTS) | ||
| set(RSSDK_VERSION "${RSSDK_VERSION_MAJOR}.${RSSDK_VERSION_MINOR}.${RSSDK_VERSION_BUILD}.${RSSDK_VERSION_REVISION}") | ||
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| endif() | ||
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| include(FindPackageHandleStandardArgs) | ||
| find_package_handle_standard_args(RSSDK | ||
| FOUND_VAR RSSDK_FOUND | ||
| REQUIRED_VARS RSSDK_LIBRARIES RSSDK_INCLUDE_DIRS | ||
| VERSION_VAR RSSDK_VERSION | ||
| ) | ||
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| if(MSVC) | ||
| set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /NODEFAULTLIB:LIBCMTD") | ||
| endif() |
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175 changes: 175 additions & 0 deletions
175
io/include/pcl/io/real_sense/real_sense_device_manager.h
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,175 @@ | ||
| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Point Cloud Library (PCL) - www.pointclouds.org | ||
| * Copyright (c) 2015-, Open Perception, Inc. | ||
| * | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the copyright holder(s) nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| */ | ||
|
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| #ifndef PCL_IO_REAL_SENSE_DEVICE_MANAGER_H | ||
| #define PCL_IO_REAL_SENSE_DEVICE_MANAGER_H | ||
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| #include <boost/thread.hpp> | ||
| #include <boost/utility.hpp> | ||
| #include <boost/weak_ptr.hpp> | ||
| #include <boost/shared_ptr.hpp> | ||
| #include <boost/thread/mutex.hpp> | ||
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| #include <pcl/pcl_exports.h> | ||
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| #include <pxcsession.h> | ||
| #include <pxccapture.h> | ||
| #include <pxccapturemanager.h> | ||
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| namespace pcl | ||
| { | ||
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| class RealSenseGrabber; | ||
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| namespace io | ||
| { | ||
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| namespace real_sense | ||
| { | ||
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| class RealSenseDevice; | ||
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| class PCL_EXPORTS RealSenseDeviceManager : boost::noncopyable | ||
| { | ||
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| public: | ||
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| typedef boost::shared_ptr<RealSenseDeviceManager> Ptr; | ||
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| static Ptr& | ||
| getInstance () | ||
| { | ||
| static Ptr instance; | ||
| if (!instance) | ||
| { | ||
| boost::mutex::scoped_lock lock (mutex_); | ||
| if (!instance) | ||
| instance.reset (new RealSenseDeviceManager); | ||
| } | ||
| return (instance); | ||
| } | ||
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| inline size_t | ||
| getNumDevices () | ||
| { | ||
| return (device_list_.size ()); | ||
| } | ||
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| boost::shared_ptr<RealSenseDevice> | ||
| captureDevice (); | ||
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| boost::shared_ptr<RealSenseDevice> | ||
| captureDevice (size_t index); | ||
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| boost::shared_ptr<RealSenseDevice> | ||
| captureDevice (const std::string& sn); | ||
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| ~RealSenseDeviceManager (); | ||
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| private: | ||
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| struct DeviceInfo | ||
| { | ||
| pxcUID iuid; | ||
| pxcI32 didx; | ||
| std::string serial; | ||
| boost::weak_ptr<RealSenseDevice> device_ptr; | ||
| inline bool isCaptured () { return (!device_ptr.expired ()); } | ||
| }; | ||
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| /** If the device is already captured returns a pointer. */ | ||
| boost::shared_ptr<RealSenseDevice> | ||
| capture (DeviceInfo& device_info); | ||
|
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| RealSenseDeviceManager (); | ||
|
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| /** This function discovers devices that are capable of streaming | ||
| * depth data. */ | ||
| void | ||
| populateDeviceList (); | ||
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| boost::shared_ptr<PXCSession> session_; | ||
| boost::shared_ptr<PXCCaptureManager> capture_manager_; | ||
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| std::vector<DeviceInfo> device_list_; | ||
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| static boost::mutex mutex_; | ||
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| }; | ||
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| class PCL_EXPORTS RealSenseDevice : boost::noncopyable | ||
| { | ||
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| public: | ||
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| typedef boost::shared_ptr<RealSenseDevice> Ptr; | ||
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| inline const std::string& | ||
| getSerialNumber () { return (device_id_); } | ||
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| inline PXCCapture::Device& | ||
| getPXCDevice () { return (*device_); } | ||
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| /** Reset the state of given device by releasing and capturing again. */ | ||
| static void | ||
| reset (RealSenseDevice::Ptr& device) | ||
| { | ||
| std::string id = device->getSerialNumber (); | ||
| device.reset (); | ||
| device = RealSenseDeviceManager::getInstance ()->captureDevice (id); | ||
| } | ||
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| private: | ||
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| friend class RealSenseDeviceManager; | ||
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| std::string device_id_; | ||
| boost::shared_ptr<PXCCapture> capture_; | ||
| boost::shared_ptr<PXCCapture::Device> device_; | ||
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| RealSenseDevice (const std::string& id) : device_id_ (id) { }; | ||
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| }; | ||
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| } // namespace real_sense | ||
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| } // namespace io | ||
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| } // namespace pcl | ||
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| #endif /* PCL_IO_REAL_SENSE_DEVICE_MANAGER_H */ | ||
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