Fawkes API  Fawkes Development Version
image_thread.h
1 
2 /***************************************************************************
3  * image_thread.h - OpenNI image provider thread
4  *
5  * Created: Thu Mar 17 13:58:25 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_IMAGE_THREAD_H_
24 #define _PLUGINS_OPENNI_IMAGE_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 ~OpenNiImageThread();
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::ImageGenerator *image_gen_;
72  xn::ImageMetaData * image_md_;
73 
76 
77  typedef enum { DEBAYER_BILINEAR, DEBAYER_NEAREST_NEIGHBOR, CONVERT_YUV, CONVERT_RGB } CopyMode;
78  CopyMode cfg_copy_mode_;
79 
80  unsigned short int usb_vendor_;
81  unsigned short int usb_product_;
82  unsigned int image_width_;
83  unsigned int image_height_;
84 
85  fawkes::Time *capture_start_;
86 };
87 
88 #endif
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:33
Thread aspect to get access to the OpenNI context.
Definition: openni.h:38
A class for handling time.
Definition: time.h:92
virtual void loop()
Code to execute in the thread.
Thread class encapsulation of pthreads.
Definition: thread.h:45
virtual void init()
Initialize the thread.
Thread aspect to use blocked timing.
virtual void finalize()
Finalize the thread.
Shared memory image buffer.
Definition: shm_image.h:183
Thread aspect to log output.
Definition: logging.h:32
Thread aspect to access configuration data.
Definition: configurable.h:32
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: image_thread.h:65
OpenNI Image Provider Thread.
Definition: image_thread.h:47
OpenNiImageThread()
Constructor.
virtual ~OpenNiImageThread()
Destructor.