Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
environment.h
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1 // License: Apache 2.0. See LICENSE file in root directory.
2 // Copyright(c) 2015 Intel Corporation. All Rights Reserved.
3 
4 #pragma once
5 #include "core/streaming.h"
6 #include "types.h"
7 #include <memory>
8 #include <mutex>
9 
10 namespace librealsense
11 {
13  {
14  public:
16  void register_same_extrinsics(const stream_interface& from, const stream_interface& to);
17  void register_extrinsics(const stream_interface& from, const stream_interface& to, std::weak_ptr<lazy<rs2_extrinsics>> extr);
18  void register_extrinsics(const stream_interface& from, const stream_interface& to, rs2_extrinsics extr);
19  bool try_fetch_extrinsics(const stream_interface& from, const stream_interface& to, rs2_extrinsics* extr);
20 
21 
23  {
25  : _owner(owner)
26  {
27  _owner.cleanup_extrinsics();
28  _owner._locks_count.fetch_add(1);
29  }
30 
32  : _owner(lock._owner)
33  {
34  _owner._locks_count = lock._owner._locks_count.load();
35  _owner._locks_count.fetch_add(1);
36  }
37 
39  _owner._locks_count.fetch_sub(1);
40  }
41 
43  };
44 
46 
47  private:
48  std::shared_ptr<lazy<rs2_extrinsics>> fetch_edge(int from, int to);
49  bool try_fetch_extrinsics(int from, int to, std::set<int>& visited, rs2_extrinsics* extr);
50  void cleanup_extrinsics();
51  int find_stream_profile(const stream_interface& p);
52 
53  std::atomic<int> _locks_count;
54  std::mutex _mutex;
55  std::map<int, std::map<int, std::weak_ptr<lazy<rs2_extrinsics>>>> _extrinsics;
56 
57  std::vector<std::shared_ptr<lazy<rs2_extrinsics>>> _external_extrinsics;
58 
59  std::shared_ptr<lazy<rs2_extrinsics>> _id;
60  std::map<int, std::weak_ptr<const stream_interface>> _streams;
61 
62  };
63 
64 
66  {
67  public:
68  static environment& get_instance();
69 
70  extrinsics_graph& get_extrinsics_graph();
71 
72  int generate_stream_id() { return _stream_id.fetch_add(1); }
73 
74  void set_time_service(std::shared_ptr<platform::time_service> ts);
75  std::shared_ptr<platform::time_service> get_time_service();
76 
77  environment(const environment&) = delete;
78  environment(const environment&&) = delete;
79  environment operator=(const environment&) = delete;
80  environment operator=(const environment&&) = delete;
81  private:
82 
83  extrinsics_graph _extrinsics;
84  std::atomic<int> _stream_id;
85  std::shared_ptr<platform::time_service> _ts;
86 
87  environment(){_stream_id = 0;}
88 
89  };
90 }
int generate_stream_id()
Definition: environment.h:72
Definition: types.h:269
void register_same_extrinsics(const stream_interface &from, const stream_interface &to)
Definition: algo.h:16
Definition: streaming.h:31
void register_extrinsics(const stream_interface &from, const stream_interface &to, std::weak_ptr< lazy< rs2_extrinsics >> extr)
Definition: environment.h:65
extrinsics_graph & _owner
Definition: environment.h:42
Cross-stream extrinsics: encode the topology describing how the different devices are connected...
Definition: rs_sensor.h:81
Definition: environment.h:12
bool try_fetch_extrinsics(const stream_interface &from, const stream_interface &to, rs2_extrinsics *extr)
~extrinsics_lock()
Definition: environment.h:38
extrinsics_lock(const extrinsics_lock &lock)
Definition: environment.h:31
extrinsics_lock(extrinsics_graph &owner)
Definition: environment.h:24