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retriever_thread.h
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/***************************************************************************
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* retriever_thread.h - FireVision Retriever Thread
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*
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* Created: Tue Jun 26 17:37:38 2007
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* Copyright 2006-2007 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 __FIREVISION_APPS_RETRIEVER_RETRIEVER_THREAD_H_
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#define __FIREVISION_APPS_RETRIEVER_RETRIEVER_THREAD_H_
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#include <core/threading/thread.h>
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#include <aspect/configurable.h>
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#include <aspect/logging.h>
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#include <aspect/clock.h>
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#include <aspect/vision.h>
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#include <string>
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namespace
fawkes {
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class
TimeTracker;
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}
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namespace
firevision {
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class
Camera;
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class
SharedMemoryImageBuffer;
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class
SeqWriter;
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class
ColorModelLookupTable;
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}
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class
FvRetrieverThread
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:
public
fawkes::Thread
,
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public
fawkes::ConfigurableAspect
,
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public
fawkes::LoggingAspect
,
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public
fawkes::VisionAspect
,
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public
fawkes::ClockAspect
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{
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public
:
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FvRetrieverThread
(std::string camera_string, std::string cfg_name, std::string cfg_prefix);
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virtual
~FvRetrieverThread
();
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virtual
void
init
();
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virtual
void
finalize
();
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virtual
void
loop
();
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/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
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protected
:
virtual
void
run
() {
Thread::run
(); }
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private
:
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std::string cfg_name_;
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std::string cfg_prefix_;
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std::string camera_string_;
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fawkes::Time
*cap_time_;
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firevision::Camera
*cam;
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firevision::SharedMemoryImageBuffer
*shm;
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firevision::SeqWriter
*seq_writer;
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fawkes::TimeTracker
*__tt;
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unsigned
int
__loop_count;
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unsigned
int
__ttc_capture;
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unsigned
int
__ttc_memcpy;
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unsigned
int
__ttc_dispose;
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bool
__cam_has_timestamp_support;
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firevision::ColorModelLookupTable
*__cm;
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};
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#endif
src
plugins
perception
retriever
retriever_thread.h
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