Fawkes API  Fawkes Development Version
depth_thread.h
00001 
00002 /***************************************************************************
00003  *  depth_thread.h - OpenNI depth provider thread
00004  *
00005  *  Created: Thu Dec 22 11:35:31 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_DEPTH_THREAD_H_
00024 #define __PLUGINS_OPENNI_DEPTH_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 <plugins/openni/aspect/openni.h>
00033 
00034 #include <XnCppWrapper.h>
00035 
00036 namespace firevision {
00037   class SharedMemoryImageBuffer;
00038 }
00039 
00040 class OpenNiDepthThread
00041 : public fawkes::Thread,
00042   public fawkes::BlockedTimingAspect,
00043   public fawkes::LoggingAspect,
00044   public fawkes::ConfigurableAspect,
00045   public fawkes::ClockAspect,
00046   public fawkes::OpenNiAspect
00047 {
00048  public:
00049   OpenNiDepthThread();
00050   virtual ~OpenNiDepthThread();
00051 
00052   virtual void init();
00053   virtual void loop();
00054   virtual void finalize();
00055 
00056  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00057  protected: virtual void run() { Thread::run(); }
00058 
00059  private:
00060   xn::DepthGenerator                  *__depth_gen;
00061   xn::DepthMetaData                   *__depth_md;
00062 
00063   firevision::SharedMemoryImageBuffer *__depth_buf;
00064 
00065   size_t                               __depth_bufsize;
00066   unsigned int                         __depth_width;
00067   unsigned int                         __depth_height;
00068 
00069   fawkes::Time                        *__capture_start;
00070 };
00071 
00072 #endif