Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * transfer_thread.h - OpenNI Visualization: network transfer thread 00004 * 00005 * Created: Sat Apr 02 20:00:50 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 <core/threading/thread.h> 00024 00025 #include <map> 00026 #include <string> 00027 00028 namespace fawkes { 00029 class ReadWriteLock; 00030 } 00031 00032 namespace firevision { 00033 class Camera; 00034 } 00035 00036 class PclViewerTransferThread : public fawkes::Thread 00037 { 00038 public: 00039 PclViewerTransferThread(); 00040 ~PclViewerTransferThread(); 00041 00042 void loop(); 00043 00044 void lock_for_read(); 00045 void unlock(); 00046 void add_camera(std::string name, firevision::Camera *cam); 00047 00048 /** Get buffer for specified camera. 00049 * @param name the name passed to add_camera. 00050 * @return buffer that contains a copy of the image 00051 */ 00052 const unsigned char * buffer(std::string name) 00053 { return __buffers[name]; } 00054 00055 private: 00056 std::map<std::string, firevision::Camera *> __cams; 00057 std::map<std::string, unsigned char *> __buffers; 00058 std::map<std::string, size_t> __buffer_sizes; 00059 fawkes::ReadWriteLock *__rwlock; 00060 };