Fawkes API  Fawkes Development Version
OpenNiHandTrackerThread Class Reference

OpenNI Hand Tracker Thread. More...

#include "handtracker_thread.h"

Inheritance diagram for OpenNiHandTrackerThread:

List of all members.

Public Member Functions

 OpenNiHandTrackerThread ()
 Constructor.
virtual ~OpenNiHandTrackerThread ()
 Destructor.
virtual void init ()
 Initialize the thread.
virtual void loop ()
 Code to execute in the thread.
virtual void finalize ()
 Finalize the thread.
void hand_create (XnUserID &user, const XnPoint3D *position, XnFloat &time)
 Notify of new hand.
void hand_destroy (XnUserID &user, XnFloat &time)
 Notify of disappeared hand.
void hand_update (XnUserID &user, const XnPoint3D *position, XnFloat &time)
 Notify of hand update.
void gesture_recognized (const XnChar *gesture_name, const XnPoint3D *position, const XnPoint3D *end_position)
 Notify of recognized gesture.
void gesture_progress (const XnChar *gesture_name, const XnPoint3D *position, XnFloat progress)
 Notify of gesture progress.

Protected Member Functions

virtual void run ()
 Stub to see name in backtrace for easier debugging.

Detailed Description

OpenNI Hand Tracker Thread.

This thread requests a hand tracker node from OpenNI and publishes the retrieved information via the blackboard.

Author:
Tim Niemueller

Constructor & Destructor Documentation

OpenNiHandTrackerThread::OpenNiHandTrackerThread ( )

Constructor.

Definition at line 43 of file handtracker_thread.cpp.

OpenNiHandTrackerThread::~OpenNiHandTrackerThread ( ) [virtual]

Destructor.

Definition at line 51 of file handtracker_thread.cpp.


Member Function Documentation

void OpenNiHandTrackerThread::finalize ( ) [virtual]

Finalize the thread.

This method is executed just before the thread is canceled and destroyed. It is always preceeded by a call to prepare_finalize(). If this is not the case this is a failure. The condition can be checked with the boolean variable finalize_prepared.

This method is meant to be used in conjunction with aspects and to cover thread inter-dependencies. This routine MUST bring the thread into a safe state such that it may be canceled and destroyed afterwards. If there is any reason that this cannot happen make your prepare_finalize() reports so.

This method is called by the thread manager just before the thread is being cancelled. Here you can do whatever steps are necessary just before the thread is cancelled. Note that you thread is still running and might be in the middle of a loop, so it is not a good place to give up on all resources used. Mind segmentation faults that could happen. Protect the area with a mutex that you lock at the beginning of your loop and free in the end, and that you lock at the beginning of finalize and then never unlock. Also not that the finalization may be canceled afterwards. The next thing that happens is that either the thread is canceled and destroyed or that the finalization is canceled and the thread has to run again.

Finalize is called on a thread just before it is deleted. It is guaranteed to be called on a fully initialized thread (if no exception is thrown in init()) (this guarantee holds in the Fawkes framework).

The default implementation does nothing besides throwing an exception if prepare_finalize() has not been called.

Exceptions:
Exceptionthrown if prepare_finalize() has not been called.
See also:
prepare_finalize()
cancel_finalize()

Reimplemented from fawkes::Thread.

Definition at line 184 of file handtracker_thread.cpp.

References fawkes::BlackBoardAspect::blackboard, and fawkes::BlackBoard::close().

void OpenNiHandTrackerThread::gesture_progress ( const XnChar *  gesture_name,
const XnPoint3D *  position,
XnFloat  progress 
)

Notify of gesture progress.

Parameters:
gesture_namename of the recognized gesture
positiongesture position
progresscurrent progress of the recognition

Definition at line 368 of file handtracker_thread.cpp.

References fawkes::LoggingAspect::logger, fawkes::Logger::log_debug(), and fawkes::Thread::name().

void OpenNiHandTrackerThread::gesture_recognized ( const XnChar *  gesture_name,
const XnPoint3D *  position,
const XnPoint3D *  end_position 
)

Notify of recognized gesture.

Parameters:
gesture_namename of the recognized gesture
positiongesture position
end_positionfinal hand position when completing the gesture

Definition at line 343 of file handtracker_thread.cpp.

References fawkes::LoggingAspect::logger, fawkes::Logger::log_debug(), and fawkes::Thread::name().

void OpenNiHandTrackerThread::hand_create ( XnUserID &  user,
const XnPoint3D *  position,
XnFloat &  time 
)

Notify of new hand.

This is called by the OpenNI callback when a new hand has been detected.

Parameters:
usernew user's ID
positionhand position
timetimestamp in seconds

Definition at line 255 of file handtracker_thread.cpp.

References fawkes::LoggingAspect::logger, fawkes::Logger::log_error(), fawkes::Thread::name(), fawkes::Logger::log_warn(), fawkes::Logger::log_debug(), fawkes::BlackBoardAspect::blackboard, and fawkes::BlackBoard::open_for_writing().

void OpenNiHandTrackerThread::hand_destroy ( XnUserID &  user,
XnFloat &  time 
)

Notify of disappeared hand.

This is called by the OpenNI callback when a new hand has been detected.

Parameters:
usernew user's ID
timetimestamp in seconds

Definition at line 307 of file handtracker_thread.cpp.

References fawkes::LoggingAspect::logger, fawkes::Logger::log_error(), fawkes::Thread::name(), fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), and fawkes::Logger::log_debug().

void OpenNiHandTrackerThread::hand_update ( XnUserID &  user,
const XnPoint3D *  position,
XnFloat &  time 
)

Notify of hand update.

This is called by the OpenNI callback when a new hand has been detected.

Parameters:
usernew user's ID
positionhand position
timetimestamp in seconds

Definition at line 289 of file handtracker_thread.cpp.

References fawkes::LoggingAspect::logger, fawkes::Logger::log_error(), and fawkes::Thread::name().

void OpenNiHandTrackerThread::init ( ) [virtual]

Initialize the thread.

This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.

Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.

See also:
Fawkes Thread Aspects

Reimplemented from fawkes::Thread.

Definition at line 101 of file handtracker_thread.cpp.

References fawkes::OpenNiAspect::openni, fawkes::LockPtr::objmutex_ptr(), fawkes::ConfigurableAspect::config, fawkes::LoggingAspect::logger, fawkes::Logger::log_warn(), fawkes::Thread::name(), and fawkes::Logger::log_debug().

void OpenNiHandTrackerThread::loop ( ) [virtual]

Code to execute in the thread.

Implement this method to hold the code you want to be executed continously. If you do not implement this method, the default is that the thread will exit. This is useful if you choose to only implement once().

Reimplemented from fawkes::Thread.

Definition at line 211 of file handtracker_thread.cpp.

virtual void OpenNiHandTrackerThread::run ( ) [inline, protected, virtual]

Stub to see name in backtrace for easier debugging.

See also:
Thread::run()

Reimplemented from fawkes::Thread.

Definition at line 69 of file handtracker_thread.h.


The documentation for this class was generated from the following files: