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depth_thread.h
1 
2 /***************************************************************************
3  * depth_thread.h - OpenNI depth provider thread
4  *
5  * Created: Thu Dec 22 11:35:31 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_DEPTH_THREAD_H_
24 #define __PLUGINS_OPENNI_DEPTH_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 <plugins/openni/aspect/openni.h>
33 
34 #include <XnCppWrapper.h>
35 
36 namespace firevision {
37  class SharedMemoryImageBuffer;
38 }
39 
41 : public fawkes::Thread,
43  public fawkes::LoggingAspect,
45  public fawkes::ClockAspect,
47 {
48  public:
50  virtual ~OpenNiDepthThread();
51 
52  virtual void init();
53  virtual void loop();
54  virtual void finalize();
55 
56  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
57  protected: virtual void run() { Thread::run(); }
58 
59  private:
60  xn::DepthGenerator *__depth_gen;
61  xn::DepthMetaData *__depth_md;
62 
64 
65  size_t __depth_bufsize;
66  unsigned int __depth_width;
67  unsigned int __depth_height;
68 
69  fawkes::Time *__capture_start;
70 };
71 
72 #endif