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_PCL_FROMBUF_THREAD_H_ 00024 #define __PLUGINS_OPENNI_PCL_FROMBUF_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 #include <aspect/pointcloud.h> 00033 #include <pcl/point_cloud.h> 00034 #include <pcl/point_types.h> 00035 #include <fvutils/adapters/pcl.h> 00036 #include <plugins/openni/aspect/openni.h> 00037 #include <utils/time/time.h> 00038 00039 #include <map> 00040 00041 namespace firevision { 00042 class SharedMemoryImageBuffer; 00043 } 00044 00045 class OpenNiPclOnlyThread 00046 : public fawkes::Thread, 00047 public fawkes::BlockedTimingAspect, 00048 public fawkes::LoggingAspect, 00049 public fawkes::ConfigurableAspect, 00050 public fawkes::ClockAspect, 00051 public fawkes::PointCloudAspect 00052 { 00053 public: 00054 OpenNiPclOnlyThread(); 00055 virtual ~OpenNiPclOnlyThread(); 00056 00057 virtual void init(); 00058 virtual void loop(); 00059 virtual void finalize(); 00060 00061 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00062 protected: virtual void run() { Thread::run(); } 00063 00064 private: 00065 firevision::SharedMemoryImageBuffer *__pcl_buf; 00066 fawkes::RefPtr<pcl::PointCloud<pcl::PointXYZ> > __pcl; 00067 00068 fawkes::Time __last_capture_time; 00069 unsigned int __width; 00070 unsigned int __height; 00071 }; 00072 00073 #endif