Fawkes API  Fawkes Development Version
pointcloud_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_POINTCLOUD_THREAD_H_
24 #define _PLUGINS_OPENNI_POINTCLOUD_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 #ifdef HAVE_PCL
33 # include <aspect/pointcloud.h>
34 # include <fvutils/adapters/pcl.h>
35 # include <pcl/point_cloud.h>
36 # include <pcl/point_types.h>
37 #endif
38 #include <plugins/openni/aspect/openni.h>
39 
40 // OpenNI relies on GNU extension to detect Linux
41 #if defined(__linux__) && not defined(linux)
42 # define linux true
43 #endif
44 #if defined(__i386__) && not defined(i386)
45 # define i386 true
46 #endif
47 #include <XnCppWrapper.h>
48 #include <map>
49 
50 namespace fawkes {
51 class Time;
52 }
53 
54 namespace firevision {
55 class SharedMemoryImageBuffer;
56 }
57 
58 class OpenNiImageThread;
59 
62  public fawkes::LoggingAspect,
64  public fawkes::ClockAspect,
65 #ifdef HAVE_PCL
67 #endif
69 {
70 public:
72  virtual ~OpenNiPointCloudThread();
73 
74  virtual void init();
75  virtual void loop();
76  virtual void finalize();
77 
78  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
79 protected:
80  virtual void
81  run()
82  {
83  Thread::run();
84  }
85 
86 private:
87  void fill_xyz_no_pcl(fawkes::Time &ts, const XnDepthPixel *const data);
88  void fill_xyzrgb_no_pcl(fawkes::Time &ts, const XnDepthPixel *const data);
89  void fill_xyz_xyzrgb_no_pcl(fawkes::Time &ts, const XnDepthPixel *const data);
90  void fill_rgb_no_pcl();
91 
92 #ifdef HAVE_PCL
93  void fill_xyz(fawkes::Time &ts, const XnDepthPixel *const depth_data);
94  void fill_xyzrgb(fawkes::Time &ts, const XnDepthPixel *const depth_data);
95  void fill_xyz_xyzrgb(fawkes::Time &ts, const XnDepthPixel *const depth_data);
96  void fill_rgb(pcl::PointCloud<pcl::PointXYZRGB> &pcl_rgb);
97 #endif
98 
99 private:
100  OpenNiImageThread *img_thread_;
101 
102  xn::DepthGenerator *depth_gen_;
103  xn::ImageGenerator *image_gen_;
104  xn::DepthMetaData * depth_md_;
105 
106  bool cfg_register_depth_image_;
107 
109  firevision::SharedMemoryImageBuffer *pcl_xyzrgb_buf_;
110 
111  firevision::SharedMemoryImageBuffer *image_rgb_buf_;
112 
113  float focal_length_;
114  float foc_const_; // focal length constant used in conversion
115  float center_x_;
116  float center_y_;
117  unsigned int width_;
118  unsigned int height_;
119 
120  XnUInt64 no_sample_value_;
121  XnUInt64 shadow_value_;
122 
123  fawkes::Time *capture_start_;
124 
125  std::string cfg_frame_depth_;
126  std::string cfg_frame_image_;
127 
128 #ifdef HAVE_PCL
129  bool cfg_generate_pcl_;
130 
133 #endif
134 };
135 
136 #endif
OpenNiImageThread
Definition: image_thread.h:46
OpenNiPointCloudThread::~OpenNiPointCloudThread
virtual ~OpenNiPointCloudThread()
Destructor.
Definition: pointcloud_thread.cpp:61
OpenNiPointCloudThread::init
virtual void init()
Initialize the thread.
Definition: pointcloud_thread.cpp:66
OpenNiPointCloudThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: pointcloud_thread.h:80
fawkes::RefPtr
RefPtr<> is a reference-counting shared smartpointer.
Definition: refptr.h:55
fawkes::BlockedTimingAspect
Definition: blocked_timing.h:54
firevision::SharedMemoryImageBuffer
Definition: shm_image.h:182
fawkes::OpenNiAspect
Definition: openni.h:37
fawkes::PointCloudAspect
Definition: pointcloud.h:36
fawkes
fawkes::LoggingAspect
Definition: logging.h:36
pcl::PointCloud< pcl::PointXYZRGB >
OpenNiPointCloudThread::finalize
virtual void finalize()
Finalize the thread.
Definition: pointcloud_thread.cpp:219
fawkes::Time
Definition: time.h:96
OpenNiPointCloudThread::OpenNiPointCloudThread
OpenNiPointCloudThread(OpenNiImageThread *img_thread)
Constructor.
Definition: pointcloud_thread.cpp:53
fawkes::Thread
Definition: thread.h:44
fawkes::ConfigurableAspect
Definition: configurable.h:36
OpenNiPointCloudThread
Definition: pointcloud_thread.h:59
fawkes::ClockAspect
Definition: clock.h:38
OpenNiPointCloudThread::loop
virtual void loop()
Code to execute in the thread.
Definition: pointcloud_thread.cpp:500