annotate src/frame.cc @ 4:1ff5a1a50b41
foo, TODO: fix conversions
| author |
Eleni Maria Stea <eleni@mutantstargoat.com> |
| date |
Wed, 16 Oct 2013 15:41:08 +0300 |
| parents |
b0b90ef993a0 |
| children |
700127288dc5 |
| rev |
line source |
|
eleni@4
|
1 #include <cxcore.h>
|
|
eleni@4
|
2 #include <highgui.h> //TODO remove
|
|
eleni@4
|
3
|
|
eleni@2
|
4 #include <pthread.h>
|
|
eleni@1
|
5 #include <stdio.h>
|
|
eleni@2
|
6 #include <string.h>
|
|
eleni@1
|
7
|
|
eleni@1
|
8 #include "frame.h"
|
|
eleni@2
|
9 #include "kinect.h"
|
|
eleni@1
|
10
|
|
eleni@2
|
11 extern Frame *frame;
|
|
eleni@2
|
12 extern KinectParams *kin_params;
|
|
eleni@1
|
13
|
|
eleni@2
|
14 extern bool has_video;
|
|
eleni@2
|
15 extern bool has_depth;
|
|
eleni@2
|
16
|
|
eleni@2
|
17 Frame::Frame()
|
|
eleni@1
|
18 {
|
|
eleni@4
|
19 video_buf = cv::Mat(FREENECT_VIDEO_WIDTH, FREENECT_VIDEO_HEIGHT, CV_8UC1, 0);
|
|
eleni@4
|
20 depth_buf = cv::Mat(FREENECT_DEPTH_WIDTH, FREENECT_DEPTH_HEIGHT, CV_16UC1, 0);
|
|
eleni@1
|
21 }
|
|
eleni@1
|
22
|
|
eleni@2
|
23 void Frame::process()
|
|
eleni@1
|
24 {
|
|
eleni@2
|
25 if(has_video && has_depth)
|
|
eleni@2
|
26 printf("Depth and Rgb\n");
|
|
eleni@2
|
27 }
|
|
eleni@2
|
28
|
|
eleni@2
|
29 void video_cb(freenect_device *kin_dev, void *video, uint32_t time)
|
|
eleni@2
|
30 {
|
|
eleni@4
|
31 if(!video || !frame) {
|
|
eleni@2
|
32 has_video = false;
|
|
eleni@2
|
33 return;
|
|
eleni@2
|
34 }
|
|
eleni@2
|
35
|
|
eleni@4
|
36 uint8_t* video_data = static_cast<uint8_t*>(video);
|
|
eleni@4
|
37 frame->video_buf.data = (uchar*)video_data;
|
|
eleni@4
|
38 //frame->video_buf.convertTo(frame->video_buf, CV_8UC1);
|
|
eleni@4
|
39 cv::imshow("wx", frame->video_buf);
|
|
eleni@4
|
40 cv::waitKey(100);
|
|
eleni@2
|
41 has_video = true;
|
|
eleni@1
|
42 }
|
|
eleni@1
|
43
|
|
eleni@1
|
44 void depth_cb(freenect_device *kin_dev, void *depth, uint32_t time)
|
|
eleni@1
|
45 {
|
|
eleni@2
|
46 if(!depth) {
|
|
eleni@2
|
47 has_depth = false;
|
|
eleni@2
|
48 return;
|
|
eleni@2
|
49 }
|
|
eleni@2
|
50
|
|
eleni@4
|
51 uint16_t* depth_data = static_cast<uint16_t*>(depth);
|
|
eleni@4
|
52 frame->depth_buf.data = (uchar*)depth_data;
|
|
eleni@2
|
53 has_depth = true;
|
|
eleni@1
|
54 }
|
