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 #include <core/threading/thread.h>
27 #include <core/utils/lockptr.h>
28 #include <aspect/logging.h>
29 #include <aspect/configurable.h>
30 #include <aspect/clock.h>
31 #include <aspect/blocked_timing.h>
32 #include <aspect/pointcloud.h>
33 #include <pcl/point_cloud.h>
34 #include <pcl/point_types.h>
35 #include <fvutils/adapters/pcl.h>
36 #include <plugins/openni/aspect/openni.h>
37 #include <utils/time/time.h>
38 
39 #include <map>
40 
41 namespace firevision {
42  class SharedMemoryImageBuffer;
43 }
44 
46 : public fawkes::Thread,
48  public fawkes::LoggingAspect,
50  public fawkes::ClockAspect,
52 {
53  public:
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() */
62  protected: virtual void run() { Thread::run(); }
63 
64  private:
67 
68  fawkes::Time __last_capture_time;
69  unsigned int __width;
70  unsigned int __height;
71 };
72 
73 #endif
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:36
virtual ~OpenNiPclOnlyThread()
Destructor.
Thread aspect to provide and access point clouds.
Definition: pointcloud.h:40
A class for handling time.
Definition: time.h:91
Thread class encapsulation of pthreads.
Definition: thread.h:42
OpenNiPclOnlyThread()
Constructor.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to use blocked timing.
OpenNI Point Cloud Provider Thread.
virtual void finalize()
Finalize the thread.
virtual void loop()
Code to execute in the thread.
Shared memory image buffer.
Definition: shm_image.h:135
Thread aspect to log output.
Definition: logging.h:35
Thread aspect to access configuration data.
Definition: configurable.h:35
RefPtr<> is a reference-counting shared smartpointer.
Definition: refptr.h:49
virtual void init()
Initialize the thread.