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 // OpenNI relies on GNU extension to detect Linux
35 #if defined(__linux__) && not defined(linux)
36 # define linux true
37 #endif
38 #if defined(__i386__) && not defined(i386)
39 # define i386 true
40 #endif
41 #include <XnCppWrapper.h>
42 
43 namespace firevision {
44  class SharedMemoryImageBuffer;
45 }
46 
48 : public fawkes::Thread,
50  public fawkes::LoggingAspect,
52  public fawkes::ClockAspect,
54 {
55  public:
57  virtual ~OpenNiImageThread();
58 
59  virtual void init();
60  virtual void loop();
61  virtual void finalize();
62 
63  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
64  protected: virtual void run() { Thread::run(); }
65 
66  private:
67  xn::ImageGenerator *__image_gen;
68  xn::ImageMetaData *__image_md;
69 
70  firevision::SharedMemoryImageBuffer *__image_buf_yuv;
71  firevision::SharedMemoryImageBuffer *__image_buf_rgb;
72 
73  typedef enum {
74  DEBAYER_BILINEAR,
75  DEBAYER_NEAREST_NEIGHBOR,
76  CONVERT_YUV,
77  CONVERT_RGB
78  } CopyMode;
79  CopyMode __cfg_copy_mode;
80 
81  unsigned short int __usb_vendor;
82  unsigned short int __usb_product;
83  unsigned int __image_width;
84  unsigned int __image_height;
85 
86  fawkes::Time *__capture_start;
87 };
88 
89 #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
Thread class encapsulation of pthreads.
Definition: thread.h:42
Thread aspect to use blocked timing.
Shared memory image buffer.
Definition: shm_image.h:181
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:64
OpenNI Image Provider Thread.
Definition: image_thread.h:47