Fawkes API
Fawkes Development Version
image_thread.h
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/***************************************************************************
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* image_thread.h - OpenNI image provider thread
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*
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* Created: Thu Mar 17 13:58:25 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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#ifndef _PLUGINS_OPENNI_IMAGE_THREAD_H_
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#define _PLUGINS_OPENNI_IMAGE_THREAD_H_
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#include <aspect/blocked_timing.h>
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#include <aspect/clock.h>
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#include <aspect/configurable.h>
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#include <aspect/logging.h>
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#include <core/threading/thread.h>
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#include <core/utils/lockptr.h>
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#include <plugins/openni/aspect/openni.h>
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// OpenNI relies on GNU extension to detect Linux
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#if defined(__linux__) && not defined(linux)
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# define linux true
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#endif
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#if defined(__i386__) && not defined(i386)
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# define i386 true
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#endif
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#include <XnCppWrapper.h>
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namespace
firevision {
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class
SharedMemoryImageBuffer;
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}
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class
OpenNiImageThread
:
public
fawkes::Thread
,
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public
fawkes::BlockedTimingAspect
,
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public
fawkes::LoggingAspect
,
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public
fawkes::ConfigurableAspect
,
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public
fawkes::ClockAspect
,
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public
fawkes::OpenNiAspect
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{
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public
:
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OpenNiImageThread
();
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virtual
~OpenNiImageThread
();
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virtual
void
init
();
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virtual
void
loop
();
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virtual
void
finalize
();
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/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
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protected
:
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virtual
void
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run
()
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{
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Thread::run();
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}
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private
:
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xn::ImageGenerator *image_gen_;
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xn::ImageMetaData * image_md_;
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firevision::SharedMemoryImageBuffer
*image_buf_yuv_;
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firevision::SharedMemoryImageBuffer
*image_buf_rgb_;
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typedef
enum
{ DEBAYER_BILINEAR, DEBAYER_NEAREST_NEIGHBOR, CONVERT_YUV, CONVERT_RGB } CopyMode;
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CopyMode cfg_copy_mode_;
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unsigned
short
int
usb_vendor_;
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unsigned
short
int
usb_product_;
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unsigned
int
image_width_;
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unsigned
int
image_height_;
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fawkes::Time
*capture_start_;
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};
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#endif
OpenNiImageThread::~OpenNiImageThread
virtual ~OpenNiImageThread()
Destructor.
Definition:
image_thread.cpp:55
OpenNiImageThread::OpenNiImageThread
OpenNiImageThread()
Constructor.
Definition:
image_thread.cpp:48
OpenNiImageThread
Definition:
image_thread.h:46
fawkes::BlockedTimingAspect
Definition:
blocked_timing.h:54
firevision::SharedMemoryImageBuffer
Definition:
shm_image.h:182
OpenNiImageThread::loop
virtual void loop()
Code to execute in the thread.
Definition:
image_thread.cpp:185
fawkes::OpenNiAspect
Definition:
openni.h:37
fawkes::LoggingAspect
Definition:
logging.h:36
OpenNiImageThread::init
virtual void init()
Initialize the thread.
Definition:
image_thread.cpp:60
OpenNiImageThread::finalize
virtual void finalize()
Finalize the thread.
Definition:
image_thread.cpp:173
fawkes::Time
Definition:
time.h:96
fawkes::Thread
Definition:
thread.h:44
fawkes::ConfigurableAspect
Definition:
configurable.h:36
fawkes::ClockAspect
Definition:
clock.h:38
OpenNiImageThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition:
image_thread.h:64
src
plugins
openni
image_thread.h
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