Fawkes API Fawkes Development Version
pcl_frombuf_thread.h
1
2/***************************************************************************
3 * pointcloud_thread.h - OpenNI point cloud provider thread
4 *
5 * Created: Fri Mar 25 23:48:05 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_PCL_FROMBUF_THREAD_H_
24#define _PLUGINS_OPENNI_PCL_FROMBUF_THREAD_H_
25
26// must be first for reliable ROS detection
27#include <aspect/blocked_timing.h>
28#include <aspect/clock.h>
29#include <aspect/configurable.h>
30#include <aspect/logging.h>
31#include <aspect/pointcloud.h>
32#include <core/threading/thread.h>
33#include <core/utils/lockptr.h>
34#include <fvutils/adapters/pcl.h>
35#include <pcl/point_cloud.h>
36#include <pcl/point_types.h>
37#include <plugins/openni/aspect/openni.h>
38#include <utils/time/time.h>
39
40#include <map>
41
42namespace firevision {
43class SharedMemoryImageBuffer;
44}
45
52{
53public:
55 virtual ~OpenNiPclOnlyThread();
56
57 virtual void init();
58 virtual void loop();
59 virtual void finalize();
60
61 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
62protected:
63 virtual void
65 {
66 Thread::run();
67 }
68
69private:
72
73 fawkes::Time last_capture_time_;
74 unsigned int width_;
75 unsigned int height_;
76};
77
78#endif
OpenNI Point Cloud Provider Thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void finalize()
Finalize the thread.
virtual ~OpenNiPclOnlyThread()
Destructor.
virtual void loop()
Code to execute in the thread.
virtual void init()
Initialize the thread.
OpenNiPclOnlyThread()
Constructor.
Thread aspect to use blocked timing.
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:34
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread aspect to provide and access point clouds.
Definition: pointcloud.h:38
RefPtr<> is a reference-counting shared smartpointer.
Definition: refptr.h:50
Thread class encapsulation of pthreads.
Definition: thread.h:46
A class for handling time.
Definition: time.h:93
Shared memory image buffer.
Definition: shm_image.h:184