Fawkes API
Fawkes Development Version
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OpenNI User Tracker Thread. More...
#include "usertracker_thread.h"
Classes | |
struct | UserInfo |
Per user info struct. More... | |
Public Member Functions | |
OpenNiUserTrackerThread () | |
Constructor. | |
virtual | ~OpenNiUserTrackerThread () |
Destructor. | |
virtual void | init () |
Initialize the thread. | |
virtual void | loop () |
Code to execute in the thread. | |
virtual void | finalize () |
Finalize the thread. | |
void | new_user (XnUserID id) |
Notify of new user. | |
void | lost_user (XnUserID id) |
Notify of lost user. | |
void | pose_start (XnUserID id, const char *pose_name) |
Notify of detected pose. | |
void | pose_end (XnUserID id, const char *pose_name) |
Notify of pose detection end. | |
void | calibration_start (XnUserID id) |
Notify of calibration start. | |
void | calibration_end (XnUserID id, bool success) |
Notify of calibration end. | |
Protected Member Functions | |
virtual void | run () |
Stub to see name in backtrace for easier debugging. |
OpenNI User Tracker Thread.
This thread requests a user tracker node from OpenNI and publishes the retrieved information via the blackboard.
OpenNiUserTrackerThread::OpenNiUserTrackerThread | ( | ) |
Constructor.
Definition at line 45 of file usertracker_thread.cpp.
OpenNiUserTrackerThread::~OpenNiUserTrackerThread | ( | ) | [virtual] |
Destructor.
Definition at line 53 of file usertracker_thread.cpp.
void OpenNiUserTrackerThread::calibration_end | ( | XnUserID | id, |
bool | success | ||
) |
Notify of calibration end.
This is called when tracking for a user has finished.
id | ID of user who was being calibrated |
success | true if the calibration was successful, false otherwise |
Definition at line 571 of file usertracker_thread.cpp.
References fawkes::LoggingAspect::logger, fawkes::Logger::log_error(), fawkes::Thread::name(), and fawkes::Logger::log_info().
void OpenNiUserTrackerThread::calibration_start | ( | XnUserID | id | ) |
Notify of calibration start.
This is called when tracking for a user has been started.
id | ID of user who is being calibrated. |
Definition at line 553 of file usertracker_thread.cpp.
References fawkes::LoggingAspect::logger, fawkes::Logger::log_error(), fawkes::Thread::name(), and fawkes::Logger::log_info().
void OpenNiUserTrackerThread::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.
Exception | thrown if prepare_finalize() has not been called. |
Reimplemented from fawkes::Thread.
Definition at line 216 of file usertracker_thread.cpp.
References fawkes::BlackBoardAspect::blackboard, and fawkes::BlackBoard::close().
void OpenNiUserTrackerThread::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.
Reimplemented from fawkes::Thread.
Definition at line 115 of file usertracker_thread.cpp.
References fawkes::OpenNiAspect::openni, fawkes::LockPtr::objmutex_ptr(), and fawkes::ConfigurableAspect::config.
void OpenNiUserTrackerThread::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 234 of file usertracker_thread.cpp.
References fawkes::HumanSkeletonInterface::state(), fawkes::HumanSkeletonInterface::set_state(), fawkes::LoggingAspect::logger, fawkes::Logger::log_warn(), fawkes::Thread::name(), fawkes::SharedMemory::num_attached(), and firevision::SharedMemoryImageBuffer::buffer().
void OpenNiUserTrackerThread::lost_user | ( | XnUserID | id | ) |
Notify of lost user.
This is called by the OpenNI callback when a user has been lost, i.e. it has not been visible for some time.
id | lost user's ID |
Definition at line 490 of file usertracker_thread.cpp.
References fawkes::LoggingAspect::logger, fawkes::Logger::log_error(), and fawkes::Thread::name().
void OpenNiUserTrackerThread::new_user | ( | XnUserID | id | ) |
Notify of new user.
This is called by the OpenNI callback when a new user has been detected.
id | new user's ID |
Definition at line 424 of file usertracker_thread.cpp.
References fawkes::LoggingAspect::logger, fawkes::Logger::log_error(), fawkes::Thread::name(), fawkes::Logger::log_warn(), fawkes::Logger::log_debug(), fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::open_for_writing(), and fawkes::BlackBoard::close().
void OpenNiUserTrackerThread::pose_end | ( | XnUserID | id, |
const char * | pose_name | ||
) |
Notify of pose detection end.
This is called if a pose is no longer detected. The NITE middleware seems not to call this.
id | ID of user who is in the pose |
pose_name | name of the no longer detected pose |
Definition at line 537 of file usertracker_thread.cpp.
References fawkes::LoggingAspect::logger, fawkes::Logger::log_error(), and fawkes::Thread::name().
void OpenNiUserTrackerThread::pose_start | ( | XnUserID | id, |
const char * | pose_name | ||
) |
Notify of detected pose.
This is called if a pose has been detected.
id | ID of user who is in the pose |
pose_name | name of the detected pose |
Definition at line 515 of file usertracker_thread.cpp.
References fawkes::LoggingAspect::logger, fawkes::Logger::log_error(), fawkes::Thread::name(), and fawkes::Logger::log_info().
virtual void OpenNiUserTrackerThread::run | ( | ) | [inline, protected, virtual] |
Stub to see name in backtrace for easier debugging.
Reimplemented from fawkes::Thread.
Definition at line 74 of file usertracker_thread.h.