Fawkes API  Fawkes Development Version
image_thread.h
1 
2 /***************************************************************************
3  * image_thread.h - OpenNI image provider thread
4  *
5  * Created: Thu Mar 17 13:58:25 2011
6  * Copyright 2006-2011 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef __PLUGINS_OPENNI_IMAGE_THREAD_H_
24 #define __PLUGINS_OPENNI_IMAGE_THREAD_H_
25 
26 #include <core/threading/thread.h>
27 #include <core/utils/lockptr.h>
28 #include <aspect/logging.h>
29 #include <aspect/configurable.h>
30 #include <aspect/clock.h>
31 #include <aspect/blocked_timing.h>
32 #include <plugins/openni/aspect/openni.h>
33 
34 #include <XnCppWrapper.h>
35 
36 namespace firevision {
37  class SharedMemoryImageBuffer;
38 }
39 
41 : public fawkes::Thread,
43  public fawkes::LoggingAspect,
45  public fawkes::ClockAspect,
47 {
48  public:
50  virtual ~OpenNiImageThread();
51 
52  virtual void init();
53  virtual void loop();
54  virtual void finalize();
55 
56  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
57  protected: virtual void run() { Thread::run(); }
58 
59  private:
60  xn::ImageGenerator *__image_gen;
61  xn::ImageMetaData *__image_md;
62 
63  firevision::SharedMemoryImageBuffer *__image_buf_yuv;
64  firevision::SharedMemoryImageBuffer *__image_buf_rgb;
65 
66  typedef enum {
67  DEBAYER_BILINEAR,
68  DEBAYER_NEAREST_NEIGHBOR,
69  CONVERT_YUV
70  } CopyMode;
71  CopyMode __cfg_copy_mode;
72 
73  unsigned short int __usb_vendor;
74  unsigned short int __usb_product;
75  unsigned int __image_width;
76  unsigned int __image_height;
77 
78  fawkes::Time *__capture_start;
79 };
80 
81 #endif
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:36
Thread aspect to get access to the OpenNI context.
Definition: openni.h:39
A class for handling time.
Definition: time.h:91
virtual void loop()
Code to execute in the thread.
Thread class encapsulation of pthreads.
Definition: thread.h:42
virtual void init()
Initialize the thread.
Thread aspect to use blocked timing.
virtual void finalize()
Finalize the thread.
Shared memory image buffer.
Definition: shm_image.h:135
Thread aspect to log output.
Definition: logging.h:35
Thread aspect to access configuration data.
Definition: configurable.h:35
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: image_thread.h:57
OpenNI Image Provider Thread.
Definition: image_thread.h:40
OpenNiImageThread()
Constructor.
virtual ~OpenNiImageThread()
Destructor.