Fawkes API  Fawkes Development Version
data_plugin.cpp
1 
2 /***************************************************************************
3  * data_plugin.cpp - OpenNI raw data provider for Fawkes
4  *
5  * Created: Thu Dec 22 11:31:32 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 #include "depth_thread.h"
24 #include "image_thread.h"
25 #include "pointcloud_thread.h"
26 
27 #include <core/plugin.h>
28 
29 using namespace fawkes;
30 
31 /** Plugin provide raw OpenNI data to Fawkes plugins.
32  * This plugin publishes the image, depth, and point cloud data from
33  * OpenNI to other Fawkes plugins.
34  * @author Tim Niemueller
35  */
37 {
38 public:
39  /** Constructor.
40  * @param config Fawkes configuration
41  */
42  explicit OpenNiDataPlugin(Configuration *config) : Plugin(config)
43  {
44  OpenNiImageThread *img_thread = new OpenNiImageThread();
45  thread_list.push_back(img_thread);
46  thread_list.push_back(new OpenNiDepthThread());
47  thread_list.push_back(new OpenNiPointCloudThread(img_thread));
48  }
49 };
50 
51 PLUGIN_DESCRIPTION("Image, depth, and point cloud provider")
52 EXPORT_PLUGIN(OpenNiDataPlugin)
OpenNiImageThread
Definition: image_thread.h:46
fawkes::Configuration
Definition: config.h:68
OpenNiDepthThread
Definition: depth_thread.h:46
fawkes
OpenNiDataPlugin
Plugin provide raw OpenNI data to Fawkes plugins.
Definition: data_plugin.cpp:36
OpenNiPointCloudThread
Definition: pointcloud_thread.h:59
OpenNiDataPlugin::OpenNiDataPlugin
OpenNiDataPlugin(Configuration *config)
Constructor.
Definition: data_plugin.cpp:42
fawkes::Plugin
Definition: plugin.h:37