pointGrey.hpp

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#ifndef OPENPOSE_EXPERIMENTAL_3D_POINT_GREY_HPP
#define OPENPOSE_EXPERIMENTAL_3D_POINT_GREY_HPP

#include <openpose/core/common.hpp>
#include <openpose/experimental/3d/datum3D.hpp>
#include <openpose/thread/workerProducer.hpp>

namespace op
{
    // Following OpenPose `tutorial_wrapper/` examples, we create our own class inherited from WorkerProducer.
    // This worker:
    // 1. Set hardware trigger and the buffer to get the latest obtained frame.
    // 2. Read images from FLIR cameras.
    // 3. Turn them into std::vector<cv::Mat>.
    // 4. Return the resulting images wrapped into a std::shared_ptr<std::vector<Datum3D>>.
    // The HW trigger + reading FLIR camera code is highly based on the Spinnaker SDK examples `AcquisitionMultipleCamera`
    // and specially `Trigger`
    // (located in `src/`). See them for more details about the cameras.
    // See `examples/tutorial_wrapper/` for more details about inhering the WorkerProducer class.
    class OP_API WPointGrey : public WorkerProducer<std::shared_ptr<std::vector<Datum3D>>>
    {
    public:
        WPointGrey();

        ~WPointGrey();

        void initializationOnThread();

        std::shared_ptr<std::vector<Datum3D>> workProducer();

    private:
        // PIMPL idiom
        // http://www.cppsamples.com/common-tasks/pimpl.html
        struct ImplWPointGrey;
        std::unique_ptr<ImplWPointGrey> upImpl;
    };
}

#endif // OPENPOSE_EXPERIMENTAL_3D_POINT_GREY_HPP