Fawkes API  Fawkes Development Version
pcl_frombuf_thread.h
1 
2 /***************************************************************************
3  * pointcloud_thread.h - OpenNI point cloud provider thread
4  *
5  * Created: Fri Mar 25 23:48:05 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_PCL_FROMBUF_THREAD_H_
24 #define __PLUGINS_OPENNI_PCL_FROMBUF_THREAD_H_
25 
26 // must be first for reliable ROS detection
27 #include <pcl/point_cloud.h>
28 #include <pcl/point_types.h>
29 
30 #include <core/threading/thread.h>
31 #include <core/utils/lockptr.h>
32 #include <aspect/logging.h>
33 #include <aspect/configurable.h>
34 #include <aspect/clock.h>
35 #include <aspect/blocked_timing.h>
36 #include <aspect/pointcloud.h>
37 #include <fvutils/adapters/pcl.h>
38 #include <plugins/openni/aspect/openni.h>
39 #include <utils/time/time.h>
40 
41 #include <map>
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 ~OpenNiPclOnlyThread();
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:
69 
70  fawkes::Time __last_capture_time;
71  unsigned int __width;
72  unsigned int __height;
73 };
74 
75 #endif
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:36
Thread aspect to provide and access point clouds.
Definition: pointcloud.h:40
A class for handling time.
Definition: time.h:91
Thread class encapsulation of pthreads.
Definition: thread.h:42
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to use blocked timing.
OpenNI Point Cloud Provider Thread.
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
RefPtr<> is a reference-counting shared smartpointer.
Definition: refptr.h:49