Fawkes API  Fawkes Development Version
depth_thread.h
1 
2 /***************************************************************************
3  * depth_thread.h - OpenNI depth provider thread
4  *
5  * Created: Thu Dec 22 11:35:31 2011
6  * Copyright 2006-2011 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef _PLUGINS_OPENNI_DEPTH_THREAD_H_
24 #define _PLUGINS_OPENNI_DEPTH_THREAD_H_
25 
26 #include <aspect/blocked_timing.h>
27 #include <aspect/clock.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <core/threading/thread.h>
31 #include <core/utils/lockptr.h>
32 #include <plugins/openni/aspect/openni.h>
33 
34 // OpenNI relies on GNU extension to detect Linux
35 #if defined(__linux__) && not defined(linux)
36 # define linux true
37 #endif
38 #if defined(__i386__) && not defined(i386)
39 # define i386 true
40 #endif
41 #include <XnCppWrapper.h>
42 
43 namespace firevision {
44 class SharedMemoryImageBuffer;
45 }
46 
49  public fawkes::LoggingAspect,
51  public fawkes::ClockAspect,
53 {
54 public:
56  virtual ~OpenNiDepthThread();
57 
58  virtual void init();
59  virtual void loop();
60  virtual void finalize();
61 
62  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
63 protected:
64  virtual void
65  run()
66  {
67  Thread::run();
68  }
69 
70 private:
71  xn::DepthGenerator *depth_gen_;
72  xn::DepthMetaData * depth_md_;
73 
75 
76  size_t depth_bufsize_;
77  unsigned int depth_width_;
78  unsigned int depth_height_;
79 
80  fawkes::Time *capture_start_;
81 };
82 
83 #endif
fawkes::BlockedTimingAspect
Thread aspect to use blocked timing.
Definition: blocked_timing.h:51
firevision::SharedMemoryImageBuffer
Shared memory image buffer.
Definition: shm_image.h:184
OpenNiDepthThread::OpenNiDepthThread
OpenNiDepthThread()
Constructor.
Definition: depth_thread.cpp:45
OpenNiDepthThread::~OpenNiDepthThread
virtual ~OpenNiDepthThread()
Destructor.
Definition: depth_thread.cpp:52
OpenNiDepthThread::finalize
virtual void finalize()
Finalize the thread.
Definition: depth_thread.cpp:98
fawkes::OpenNiAspect
Thread aspect to get access to the OpenNI context.
Definition: openni.h:39
OpenNiDepthThread
OpenNI Depth Provider Thread.
Definition: depth_thread.h:53
OpenNiDepthThread::loop
virtual void loop()
Code to execute in the thread.
Definition: depth_thread.cpp:109
fawkes::LoggingAspect
Thread aspect to log output.
Definition: logging.h:33
fawkes::Time
A class for handling time.
Definition: time.h:93
OpenNiDepthThread::init
virtual void init()
Initialize the thread.
Definition: depth_thread.cpp:57
fawkes::Thread
Thread class encapsulation of pthreads.
Definition: thread.h:46
OpenNiDepthThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: depth_thread.h:65
fawkes::ConfigurableAspect
Thread aspect to access configuration data.
Definition: configurable.h:33
fawkes::ClockAspect
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:34