1 #include <cv.h>

2 #include <pthread.h>

3 #include <stdio.h>

4 #include <string.h>

5

6 #include "frame.h"

7 #include "kinect.h"

8

9 extern Frame *frame;

10 extern KinectParams *kin_params;

11

12 extern bool has_video;

13 extern bool has_depth;

14

15 Frame::Frame()

16 {

17 if(video_buf.empty()) {

18 video_buf = cv::Mat(FREENECT_VIDEO_WIDTH, FREENECT_VIDEO_HEIGHT, CV_32FC3, cv::Scalar(0, 0, 0));

19 }

20 if(depth_buf.empty()) {

21 depth_buf = cv::Mat(FREENECT_DEPTH_WIDTH, FREENECT_VIDEO_HEIGHT, CV_16UC1, 0);

22 }

23 }

24

25 void Frame::process()

26 {

27 if(has_video && has_depth)

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

29 }

30

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

32 {

33 if(!video) {

34 has_video = false;

35 return;

36 }

37

38 //copy *video to video_buf if fail => has_video = false

39 has_video = true;

40 }

41

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

43 {

44 if(!depth) {

45 has_depth = false;

46 return;

47 }

48

49 has_depth = true;

50 }