Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * kinect.h - Microsoft Kinect 3D Camera using the freenect driver 00004 * 00005 * Created: Fri Nov 26 10:46:09 2010 00006 * Copyright 2010 Daniel Beck 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #ifndef __FIREVISION_CAMS_KINECT_H_ 00025 #define __FIREVISION_CAMS_KINECT_H_ 00026 00027 #include "camera.h" 00028 00029 #include <libfreenect.hpp> 00030 00031 namespace firevision { 00032 #if 0 /* just to make Emacs auto-indent happy */ 00033 } 00034 #endif 00035 00036 class CameraArgumentParser; 00037 00038 class FvFreenectDevice : public Freenect::FreenectDevice 00039 { 00040 public: 00041 FvFreenectDevice( freenect_context* ctx, int index ); 00042 ~FvFreenectDevice(); 00043 00044 void RGBCallback( freenect_pixel* rgb, uint32_t timestamp ); 00045 void DepthCallback( void* depth, uint32_t timestamp ); 00046 00047 unsigned char* rgb_buffer(); 00048 uint16_t* depth_buffer(); 00049 00050 private: 00051 unsigned char* m_rgb_buffer; 00052 uint16_t* m_depth_buffer; 00053 00054 uint32_t m_rgb_timestamp; 00055 uint32_t m_depth_timestamp; 00056 }; 00057 00058 class KinectCamera : public Camera 00059 { 00060 public: 00061 KinectCamera( const CameraArgumentParser* cap = NULL ); 00062 ~KinectCamera(); 00063 00064 virtual void open(); 00065 virtual void start(); 00066 virtual void stop(); 00067 virtual void close(); 00068 virtual void capture(); 00069 virtual void flush(); 00070 00071 virtual bool ready(); 00072 00073 virtual void print_info(); 00074 00075 virtual unsigned char* buffer(); 00076 virtual unsigned int buffer_size(); 00077 virtual void dispose_buffer(); 00078 00079 virtual unsigned int pixel_width(); 00080 virtual unsigned int pixel_height(); 00081 virtual colorspace_t colorspace(); 00082 00083 virtual void set_image_number( unsigned int n ); 00084 00085 public: 00086 static const unsigned int RGB_IMAGE; 00087 static const unsigned int FALSE_COLOR_DEPTH_IMAGE; 00088 00089 private: 00090 Freenect::Freenect< FvFreenectDevice >* m_freenect_ctx; 00091 FvFreenectDevice* m_freenect_dev; 00092 00093 bool m_opened; 00094 bool m_started; 00095 00096 unsigned int m_image_num; 00097 00098 unsigned char* m_buffer; 00099 unsigned char* m_false_color_depth_buffer; 00100 00101 uint16_t m_gamma[2048]; 00102 }; 00103 00104 } // end namespace firevision 00105 00106 #endif /* __FIREVISION_CAMS_KINECT_H_ */