Fawkes API
Fawkes Development Version
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24 #ifndef _FIREVISION_CAMS_KINECT_H_
25 #define _FIREVISION_CAMS_KINECT_H_
29 #include <libfreenect.hpp>
31 namespace firevision {
33 class CameraArgumentParser;
41 void RGBCallback(freenect_pixel *rgb, uint32_t timestamp);
48 unsigned char *m_rgb_buffer;
49 uint16_t * m_depth_buffer;
51 uint32_t m_rgb_timestamp;
52 uint32_t m_depth_timestamp;
72 virtual unsigned char *
buffer();
87 Freenect::Freenect<FvFreenectDevice> *m_freenect_ctx;
93 unsigned int m_image_num;
95 unsigned char *m_buffer;
96 unsigned char *m_false_color_depth_buffer;
98 uint16_t m_gamma[2048];
void DepthCallback(void *depth, uint32_t timestamp)
Callback function for the freenect driver.
virtual bool ready()
Camera is ready for taking pictures.
virtual unsigned int pixel_height()
Height of image in pixels.
virtual void open()
Open the camera.
~KinectCamera()
Destructor.
unsigned char * rgb_buffer()
Access the RGB buffer.
static const unsigned int FALSE_COLOR_DEPTH_IMAGE
False color depth image.
virtual colorspace_t colorspace()
Colorspace of returned image.
virtual void print_info()
Print out camera information.
virtual void start()
Start image transfer from the camera.
virtual void close()
Close camera.
virtual void dispose_buffer()
Dispose current buffer.
KinectCamera(const CameraArgumentParser *cap=NULL)
Constructor.
virtual unsigned char * buffer()
Get access to current image buffer.
virtual unsigned int buffer_size()
Size of buffer.
void RGBCallback(freenect_pixel *rgb, uint32_t timestamp)
Callback function for the freenect driver.
Implementation of the FreenectDevice interface of the driver.
Access the Microsoft Kinect camera using the freenect driver.
virtual void set_image_number(unsigned int n)
Set image number to retrieve.
~FvFreenectDevice()
Destructor.
static const unsigned int RGB_IMAGE
Color image.
Camera interface for image aquiring devices in FireVision.
virtual void capture()
Capture an image.
virtual void stop()
Stop image transfer from the camera.
virtual void flush()
Flush image queue.
FvFreenectDevice(freenect_context *ctx, int index)
Constructor.
virtual unsigned int pixel_width()
Width of image in pixels.
uint16_t * depth_buffer()
Access the depth buffer.