Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * pointcloud_thread.h - OpenNI point cloud provider thread 00004 * 00005 * Created: Fri Mar 25 23:48:05 2011 00006 * Copyright 2006-2011 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL file in the doc directory. 00021 */ 00022 00023 #ifndef __PLUGINS_OPENNI_POINTCLOUD_THREAD_H_ 00024 #define __PLUGINS_OPENNI_POINTCLOUD_THREAD_H_ 00025 00026 #include <core/threading/thread.h> 00027 #include <core/utils/lockptr.h> 00028 #include <aspect/logging.h> 00029 #include <aspect/configurable.h> 00030 #include <aspect/clock.h> 00031 #include <aspect/blocked_timing.h> 00032 #ifdef HAVE_PCL 00033 # include <aspect/pointcloud.h> 00034 # include <pcl/point_cloud.h> 00035 # include <pcl/point_types.h> 00036 # include <fvutils/adapters/pcl.h> 00037 #endif 00038 #include <plugins/openni/aspect/openni.h> 00039 00040 #include <XnCppWrapper.h> 00041 00042 #include <map> 00043 00044 namespace fawkes { 00045 class Time; 00046 } 00047 00048 namespace firevision { 00049 class SharedMemoryImageBuffer; 00050 } 00051 00052 class OpenNiImageThread; 00053 00054 class OpenNiPointCloudThread 00055 : public fawkes::Thread, 00056 public fawkes::BlockedTimingAspect, 00057 public fawkes::LoggingAspect, 00058 public fawkes::ConfigurableAspect, 00059 public fawkes::ClockAspect, 00060 #ifdef HAVE_PCL 00061 public fawkes::PointCloudAspect, 00062 #endif 00063 public fawkes::OpenNiAspect 00064 { 00065 public: 00066 OpenNiPointCloudThread(OpenNiImageThread *img_thread); 00067 virtual ~OpenNiPointCloudThread(); 00068 00069 virtual void init(); 00070 virtual void loop(); 00071 virtual void finalize(); 00072 00073 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00074 protected: virtual void run() { Thread::run(); } 00075 00076 private: 00077 void fill_xyz_no_pcl(fawkes::Time &ts, const XnDepthPixel * const data); 00078 void fill_xyzrgb_no_pcl(fawkes::Time &ts, const XnDepthPixel * const data); 00079 void fill_xyz_xyzrgb_no_pcl(fawkes::Time &ts, const XnDepthPixel * const data); 00080 void fill_rgb_no_pcl(); 00081 00082 #ifdef HAVE_PCL 00083 void fill_xyz(fawkes::Time &ts, const XnDepthPixel * const depth_data); 00084 void fill_xyzrgb(fawkes::Time &ts, const XnDepthPixel * const depth_data); 00085 void fill_xyz_xyzrgb(fawkes::Time &ts, const XnDepthPixel * const depth_data); 00086 void fill_rgb(pcl::PointCloud<pcl::PointXYZRGB> &pcl_rgb); 00087 #endif 00088 00089 private: 00090 OpenNiImageThread *__img_thread; 00091 00092 xn::DepthGenerator *__depth_gen; 00093 xn::ImageGenerator *__image_gen; 00094 xn::DepthMetaData *__depth_md; 00095 00096 bool __cfg_register_depth_image; 00097 00098 firevision::SharedMemoryImageBuffer *__pcl_xyz_buf; 00099 firevision::SharedMemoryImageBuffer *__pcl_xyzrgb_buf; 00100 00101 firevision::SharedMemoryImageBuffer *__image_rgb_buf; 00102 00103 float __focal_length; 00104 float __foc_const; // focal length constant used in conversion 00105 float __center_x; 00106 float __center_y; 00107 unsigned int __width; 00108 unsigned int __height; 00109 00110 XnUInt64 __no_sample_value; 00111 XnUInt64 __shadow_value; 00112 00113 fawkes::Time *__capture_start; 00114 00115 #ifdef HAVE_PCL 00116 bool __cfg_generate_pcl; 00117 00118 fawkes::RefPtr<pcl::PointCloud<pcl::PointXYZ> > __pcl_xyz; 00119 fawkes::RefPtr<pcl::PointCloud<pcl::PointXYZRGB> > __pcl_xyzrgb; 00120 #endif 00121 }; 00122 00123 #endif