23 #ifndef _PLUGINS_OPENNI_POINTCLOUD_THREAD_H_
24 #define _PLUGINS_OPENNI_POINTCLOUD_THREAD_H_
26 #include <aspect/blocked_timing.h>
27 #include <aspect/clock.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <core/threading/thread.h>
31 #include <core/utils/lockptr.h>
33 # include <aspect/pointcloud.h>
34 # include <fvutils/adapters/pcl.h>
35 # include <pcl/point_cloud.h>
36 # include <pcl/point_types.h>
38 #include <plugins/openni/aspect/openni.h>
41 #if defined(__linux__) && not defined(linux)
44 #if defined(__i386__) && not defined(i386)
47 #include <XnCppWrapper.h>
54 namespace firevision {
55 class SharedMemoryImageBuffer;
87 void fill_xyz_no_pcl(
fawkes::Time &ts,
const XnDepthPixel *
const data);
88 void fill_xyzrgb_no_pcl(
fawkes::Time &ts,
const XnDepthPixel *
const data);
89 void fill_xyz_xyzrgb_no_pcl(
fawkes::Time &ts,
const XnDepthPixel *
const data);
90 void fill_rgb_no_pcl();
93 void fill_xyz(
fawkes::Time &ts,
const XnDepthPixel *
const depth_data);
94 void fill_xyzrgb(
fawkes::Time &ts,
const XnDepthPixel *
const depth_data);
95 void fill_xyz_xyzrgb(
fawkes::Time &ts,
const XnDepthPixel *
const depth_data);
102 xn::DepthGenerator *depth_gen_;
103 xn::ImageGenerator *image_gen_;
104 xn::DepthMetaData * depth_md_;
106 bool cfg_register_depth_image_;
118 unsigned int height_;
120 XnUInt64 no_sample_value_;
121 XnUInt64 shadow_value_;
125 std::string cfg_frame_depth_;
126 std::string cfg_frame_image_;
129 bool cfg_generate_pcl_;
OpenNI Image Provider Thread.
OpenNI Point Cloud Provider Thread.
OpenNiPointCloudThread(OpenNiImageThread *img_thread)
Constructor.
virtual void init()
Initialize the thread.
virtual ~OpenNiPointCloudThread()
Destructor.
virtual void loop()
Code to execute in the thread.
virtual void finalize()
Finalize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to use blocked timing.
Thread aspect that allows to obtain the current time from the clock.
Thread aspect to access configuration data.
Thread aspect to log output.
Thread aspect to get access to the OpenNI context.
Thread aspect to provide and access point clouds.
RefPtr<> is a reference-counting shared smartpointer.
Thread class encapsulation of pthreads.
A class for handling time.
Shared memory image buffer.
Fawkes library namespace.