24 #ifndef __FIREVISION_CAMS_KINECT_H_ 25 #define __FIREVISION_CAMS_KINECT_H_ 29 #include <libfreenect.hpp> 36 class CameraArgumentParser;
44 void RGBCallback( freenect_pixel* rgb, uint32_t timestamp );
51 unsigned char* m_rgb_buffer;
52 uint16_t* m_depth_buffer;
54 uint32_t m_rgb_timestamp;
55 uint32_t m_depth_timestamp;
68 virtual void capture();
73 virtual void print_info();
75 virtual unsigned char* buffer();
76 virtual unsigned int buffer_size();
77 virtual void dispose_buffer();
79 virtual unsigned int pixel_width();
80 virtual unsigned int pixel_height();
81 virtual colorspace_t colorspace();
83 virtual void set_image_number(
unsigned int n );
90 Freenect::Freenect< FvFreenectDevice >* m_freenect_ctx;
96 unsigned int m_image_num;
98 unsigned char* m_buffer;
99 unsigned char* m_false_color_depth_buffer;
101 uint16_t m_gamma[2048];
Camera interface for image aquiring devices in FireVision.
Access the Microsoft Kinect camera using the freenect driver.
unsigned char * rgb_buffer()
Access the RGB buffer.
static const unsigned int FALSE_COLOR_DEPTH_IMAGE
False color depth image.
Implementation of the FreenectDevice interface of the driver.
void DepthCallback(void *depth, uint32_t timestamp)
Callback function for the freenect driver.
uint16_t * depth_buffer()
Access the depth buffer.
void RGBCallback(freenect_pixel *rgb, uint32_t timestamp)
Callback function for the freenect driver.
static const unsigned int RGB_IMAGE
Color image.
FvFreenectDevice(freenect_context *ctx, int index)
Constructor.
~FvFreenectDevice()
Destructor.