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data_plugin.cpp
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/***************************************************************************
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* data_plugin.cpp - OpenNI raw data provider for Fawkes
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*
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* Created: Thu Dec 22 11:31:32 2011
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* Copyright 2006-2011 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#include "image_thread.h"
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#include "depth_thread.h"
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#include "pointcloud_thread.h"
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#include <core/plugin.h>
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using namespace
fawkes;
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/** Plugin provide raw OpenNI data to Fawkes plugins.
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* This plugin publishes the image, depth, and point cloud data from
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* OpenNI to other Fawkes plugins.
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* @author Tim Niemueller
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*/
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class
OpenNiDataPlugin
:
public
fawkes::Plugin
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{
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public
:
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/** Constructor.
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* @param config Fawkes configuration
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*/
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OpenNiDataPlugin
(
Configuration
*config) :
Plugin
(config)
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{
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OpenNiImageThread
*img_thread =
new
OpenNiImageThread
();
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thread_list.push_back(img_thread);
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thread_list.push_back(
new
OpenNiDepthThread
());
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thread_list.push_back(
new
OpenNiPointCloudThread
(img_thread));
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}
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};
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PLUGIN_DESCRIPTION(
"Image, depth, and point cloud provider"
)
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EXPORT_PLUGIN(
OpenNiDataPlugin
)
src
plugins
openni
data_plugin.cpp
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