23 #ifndef __PLUGINS_OPENNI_POINTCLOUD_THREAD_H_ 24 #define __PLUGINS_OPENNI_POINTCLOUD_THREAD_H_ 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> 33 # include <pcl/point_cloud.h> 34 # include <pcl/point_types.h> 35 # include <fvutils/adapters/pcl.h> 36 # include <aspect/pointcloud.h> 38 #include <plugins/openni/aspect/openni.h> 41 #if defined(__linux__) && not defined(linux) 44 #if defined(__i386__) && not defined(i386) 47 #include <XnCppWrapper.h> 56 class SharedMemoryImageBuffer;
78 virtual void finalize();
84 void fill_xyz_no_pcl(
fawkes::Time &ts,
const XnDepthPixel *
const data);
85 void fill_xyzrgb_no_pcl(
fawkes::Time &ts,
const XnDepthPixel *
const data);
86 void fill_xyz_xyzrgb_no_pcl(
fawkes::Time &ts,
const XnDepthPixel *
const data);
87 void fill_rgb_no_pcl();
90 void fill_xyz(
fawkes::Time &ts,
const XnDepthPixel *
const depth_data);
91 void fill_xyzrgb(
fawkes::Time &ts,
const XnDepthPixel *
const depth_data);
92 void fill_xyz_xyzrgb(
fawkes::Time &ts,
const XnDepthPixel *
const depth_data);
99 xn::DepthGenerator *__depth_gen;
100 xn::ImageGenerator *__image_gen;
101 xn::DepthMetaData *__depth_md;
103 bool __cfg_register_depth_image;
110 float __focal_length;
114 unsigned int __width;
115 unsigned int __height;
117 XnUInt64 __no_sample_value;
118 XnUInt64 __shadow_value;
122 std::string __cfg_frame_depth;
123 std::string __cfg_frame_image;
126 bool __cfg_generate_pcl;
Thread aspect that allows to obtain the current time from the clock.
Fawkes library namespace.
Thread aspect to provide and access point clouds.
virtual void run()
Code to execute in the thread.
Thread aspect to get access to the OpenNI context.
virtual void run()
Stub to see name in backtrace for easier debugging.
A class for handling time.
Thread class encapsulation of pthreads.
Thread aspect to use blocked timing.
Shared memory image buffer.
Thread aspect to log output.
Thread aspect to access configuration data.
RefPtr<> is a reference-counting shared smartpointer.
OpenNI Point Cloud Provider Thread.
OpenNI Image Provider Thread.