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pcl_frombuf_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_PCL_FROMBUF_THREAD_H_
24 #define __PLUGINS_OPENNI_PCL_FROMBUF_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 <aspect/pointcloud.h>
33 #include <pcl/point_cloud.h>
34 #include <pcl/point_types.h>
35 #include <fvutils/adapters/pcl.h>
36 #include <plugins/openni/aspect/openni.h>
37 #include <utils/time/time.h>
38 
39 #include <map>
40 
41 namespace firevision {
42  class SharedMemoryImageBuffer;
43 }
44 
46 : public fawkes::Thread,
48  public fawkes::LoggingAspect,
50  public fawkes::ClockAspect,
52 {
53  public:
55  virtual ~OpenNiPclOnlyThread();
56 
57  virtual void init();
58  virtual void loop();
59  virtual void finalize();
60 
61  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
62  protected: virtual void run() { Thread::run(); }
63 
64  private:
67 
68  fawkes::Time __last_capture_time;
69  unsigned int __width;
70  unsigned int __height;
71 };
72 
73 #endif