RsbRstDepthImageImportPlugin.h
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#pragma once
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#include <map> |
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#include <gui/Grender.h> |
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#include <gui/Goptions.h> |
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#include <gui/Ggui.h> |
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#include <main/plugin_cxx.h> |
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#include <tools/opencv.h> |
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#include <rsc/threading/SynchronizedQueue.h> |
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#include <rsb/Factory.h> |
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#include <rsb/Listener.h> |
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#include <rsb/Scope.h> |
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#include "rst/vision/SimpleXYZImage.pb.h" |
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#include "rst/vision/Image.pb.h" |
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namespace rsbrstdepthimageimport{ |
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/**
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* A plugin which is able to import rst::vision::SimpleXYZImages messages and convert rst images to depth.
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*
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* @author nkroemke
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*/
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class RsbRstDepthImageImportPlugin: public ICEWING::Plugin { |
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public:
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RsbRstDepthImageImportPlugin(char *name);
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~RsbRstDepthImageImportPlugin(); |
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void Init(grabParameter *para, int argc, char **argv); |
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int InitOptions();
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bool Process(char *ident, plugData *data); |
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private:
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std::string imgIdent; |
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void help();
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rsb::Scope scope; |
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rsb::Factory &factory; |
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boost::shared_ptr< |
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rsc::threading::SynchronizedQueue<boost::shared_ptr<rst::vision::Image> > > imageQueue; |
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// boost::shared_ptr<
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// rsc::threading::SynchronizedQueue<boost::shared_ptr<rst::vision::SimpleXYZImage> > > imageQueue;
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rsb::ListenerPtr listener; |
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// rst::vision::SimpleXYZImage rstImage;
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prevBuffer *window; |
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iwImage *outImage; |
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}; |
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} |