Fawkes API
Fawkes Development Version
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Access the Microsoft Kinect camera using the freenect driver. More...
#include <>>
Public Member Functions | |
KinectCamera (const CameraArgumentParser *cap=NULL) | |
Constructor. More... | |
~KinectCamera () | |
Destructor. More... | |
virtual void | open () |
Open the camera. More... | |
virtual void | start () |
Start image transfer from the camera. More... | |
virtual void | stop () |
Stop image transfer from the camera. More... | |
virtual void | close () |
Close camera. More... | |
virtual void | capture () |
Capture an image. More... | |
virtual void | flush () |
Flush image queue. More... | |
virtual bool | ready () |
Camera is ready for taking pictures. More... | |
virtual void | print_info () |
Print out camera information. More... | |
virtual unsigned char * | buffer () |
Get access to current image buffer. More... | |
virtual unsigned int | buffer_size () |
Size of buffer. More... | |
virtual void | dispose_buffer () |
Dispose current buffer. More... | |
virtual unsigned int | pixel_width () |
Width of image in pixels. More... | |
virtual unsigned int | pixel_height () |
Height of image in pixels. More... | |
virtual colorspace_t | colorspace () |
Colorspace of returned image. More... | |
virtual void | set_image_number (unsigned int n) |
Set image number to retrieve. More... | |
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virtual | ~Camera () |
Virtual empty destructor. More... | |
virtual fawkes::Time * | capture_time () |
Get the Time of the last successfully captured image. More... | |
Static Public Attributes | |
static const unsigned int | RGB_IMAGE = 0 |
Color image. More... | |
static const unsigned int | FALSE_COLOR_DEPTH_IMAGE = 1 |
False color depth image. More... | |
Access the Microsoft Kinect camera using the freenect driver.
firevision::KinectCamera::KinectCamera | ( | const CameraArgumentParser * | cap = NULL | ) |
firevision::KinectCamera::~KinectCamera | ( | ) |
Destructor.
Definition at line 138 of file kinect.cpp.
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Get access to current image buffer.
This will return a pointer to the current buffer. The buffer contains an image of the given colorspace, width and height.
Implements firevision::Camera.
Definition at line 279 of file kinect.cpp.
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Size of buffer.
Gets the size in bytes of the buffer returned by buffer().
Implements firevision::Camera.
Definition at line 285 of file kinect.cpp.
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Capture an image.
Although cameras shall operate with a continuous image flow where possible sometimes capturing an image means copying a buffer or advancing a buffer list pointer. This shall be done in this method. For a camera-using application it is mandatory to call capture() just before accessing the image buffer.
Implements firevision::Camera.
Definition at line 204 of file kinect.cpp.
References firevision::FvFreenectDevice::depth_buffer(), and FALSE_COLOR_DEPTH_IMAGE.
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Close camera.
This closes the camera device. The camera must have been stopped before calling close().
Implements firevision::Camera.
Definition at line 197 of file kinect.cpp.
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Colorspace of returned image.
Implements firevision::Camera.
Definition at line 308 of file kinect.cpp.
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Dispose current buffer.
Some cameras need disposal of the current buffer (for example to free space in a queue to retrieve the next image). This is done with this method. It has to be called after all work has been done on the image as desired. After dispose_buffer() has been called no further access may happen to the image buffer or undesired behavior may happen.
Implements firevision::Camera.
Definition at line 291 of file kinect.cpp.
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Flush image queue.
Some cameras may have an image buffer queue. With this it can happen that if the processing of an image took longer than desired it is needed to flush this buffer queue.
Implements firevision::Camera.
Definition at line 263 of file kinect.cpp.
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Open the camera.
The camera is opened, but image transfer not yet started. This can be used to detect general problems with the camera while delaying the real transfer startup until it is needed.
Implements firevision::Camera.
Definition at line 144 of file kinect.cpp.
References set_image_number().
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Height of image in pixels.
Implements firevision::Camera.
Definition at line 302 of file kinect.cpp.
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Width of image in pixels.
Implements firevision::Camera.
Definition at line 296 of file kinect.cpp.
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Print out camera information.
Shall print out camera information and current setup information on stdout.
Implements firevision::Camera.
Definition at line 274 of file kinect.cpp.
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Camera is ready for taking pictures.
The camera has been opened and started correctly and may now provide images.
Implements firevision::Camera.
Definition at line 268 of file kinect.cpp.
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Set image number to retrieve.
If a camera is able to retrieve several images this method can be used to select the image to be retrieved with the next call to capture().
n | image number to set |
Implements firevision::Camera.
Definition at line 314 of file kinect.cpp.
References FALSE_COLOR_DEPTH_IMAGE, firevision::FvFreenectDevice::rgb_buffer(), and RGB_IMAGE.
Referenced by open().
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Start image transfer from the camera.
For many cameras opening the camera and starting transmission of images are two tasks. This method will simply initiate the transfer after the camera as been opened. And exception shall be thrown if the camera has not been opened.
Implements firevision::Camera.
Definition at line 161 of file kinect.cpp.
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Stop image transfer from the camera.
This will stop the image transfer initiated with start(). This can be used to start and stop the image transfer at will without opening and closing operations inbetween.
Implements firevision::Camera.
Definition at line 179 of file kinect.cpp.
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False color depth image.
Definition at line 87 of file kinect.h.
Referenced by capture(), and set_image_number().
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