Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * data_plugin.cpp - OpenNI raw data provider for Fawkes 00004 * 00005 * Created: Thu Dec 22 11:31:32 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 #include "image_thread.h" 00024 #include "depth_thread.h" 00025 #include "pointcloud_thread.h" 00026 #include <core/plugin.h> 00027 00028 using namespace fawkes; 00029 00030 /** Plugin provide raw OpenNI data to Fawkes plugins. 00031 * This plugin publishes the image, depth, and point cloud data from 00032 * OpenNI to other Fawkes plugins. 00033 * @author Tim Niemueller 00034 */ 00035 class OpenNiDataPlugin : public fawkes::Plugin 00036 { 00037 public: 00038 /** Constructor. 00039 * @param config Fawkes configuration 00040 */ 00041 OpenNiDataPlugin(Configuration *config) : Plugin(config) 00042 { 00043 OpenNiImageThread *img_thread = new OpenNiImageThread(); 00044 thread_list.push_back(img_thread); 00045 thread_list.push_back(new OpenNiDepthThread()); 00046 thread_list.push_back(new OpenNiPointCloudThread(img_thread)); 00047 } 00048 }; 00049 00050 PLUGIN_DESCRIPTION("Image, depth, and point cloud provider") 00051 EXPORT_PLUGIN(OpenNiDataPlugin)