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;
35 class FvFreenectDevice :
public Freenect::FreenectDevice
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 unsigned int pixel_height()
~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()
virtual void print_info()
virtual void dispose_buffer()
KinectCamera(const CameraArgumentParser *cap=NULL)
Constructor.
virtual unsigned char * buffer()
virtual unsigned int buffer_size()
void RGBCallback(freenect_pixel *rgb, uint32_t timestamp)
Callback function for the freenect driver.
virtual void set_image_number(unsigned int n)
~FvFreenectDevice()
Destructor.
static const unsigned int RGB_IMAGE
Color image.
FvFreenectDevice(freenect_context *ctx, int index)
Constructor.
virtual unsigned int pixel_width()
uint16_t * depth_buffer()
Access the depth buffer.