1 #include <cxcore.h>

2 #include <highgui.h> //TODO remove

3

4 #include <pthread.h>

5 #include <stdio.h>

6 #include <string.h>

7

8 #include "frame.h"

9 #include "kinect.h"

10

11 extern Frame *frame;

12 extern KinectParams *kin_params;

13

14 extern bool has_video;

15 extern bool has_depth;

16

17 Frame::Frame()

18 {

19 video_buf = cv::Mat(FREENECT_VIDEO_WIDTH, FREENECT_VIDEO_HEIGHT, CV_8UC1, 0);

20 depth_buf = cv::Mat(FREENECT_DEPTH_WIDTH, FREENECT_DEPTH_HEIGHT, CV_16UC1, 0);

21 }

22

23 void Frame::process()

24 {

25 if(has_video && has_depth)

26 printf("Depth and Rgb\n");

27 }

28

29 void video_cb(freenect_device *kin_dev, void *video, uint32_t time)

30 {

31 if(!video || !frame) {

32 has_video = false;

33 return;

34 }

35

36 uint8_t* video_data = static_cast<uint8_t*>(video);

37 frame->video_buf.data = (uchar*)video_data;

38 //frame->video_buf.convertTo(frame->video_buf, CV_8UC1);

39 cv::imshow("wx", frame->video_buf);

40 cv::waitKey(100);

41 has_video = true;

42 }

43

44 void depth_cb(freenect_device *kin_dev, void *depth, uint32_t time)

45 {

46 if(!depth) {

47 has_depth = false;

48 return;

49 }

50

51 uint16_t* depth_data = static_cast<uint16_t*>(depth);

52 frame->depth_buf.data = (uchar*)depth_data;

53 has_depth = true;

54 }