1 #ifndef KINECT_H_

2 #define KINECT_H_

3

4 #include <libfreenect.h>

5

6 /* from specs */

7 #define FREENECT_VIDEO_WIDTH 640

8 #define FREENECT_VIDEO_HEIGHT 480

9 #define FREENECT_DEPTH_WIDTH 640

10 #define FREENECT_DEPTH_HEIGHT 480

11

12 struct KinectParams {

13 double angle;

14

15 int video_width;

16 int video_height;

17 int depth_width;

18 int depth_height;

19

20 freenect_led_options led_color;

21 freenect_video_format video_format;

22 freenect_depth_format depth_format;

23 freenect_resolution video_res;

24 freenect_resolution depth_res;

25

26 KinectParams()

27 {

28 angle = 10;

29

30 video_width = FREENECT_VIDEO_WIDTH;

31 video_height = FREENECT_DEPTH_HEIGHT;

32 depth_width = FREENECT_VIDEO_WIDTH;

33 depth_height = FREENECT_DEPTH_HEIGHT;

34

35 led_color = LED_RED;

36 video_format = FREENECT_VIDEO_RGB;

37 depth_format = FREENECT_DEPTH_11BIT;

38 video_res = FREENECT_RESOLUTION_MEDIUM;

39 depth_res = FREENECT_RESOLUTION_MEDIUM;

40 }

41 };

42

43 bool init_kinect(freenect_context **kin_ctx, freenect_device **kin_dev, KinectParams *kin_params);

44 bool init_kinect_frames(freenect_context **kin_ctx, freenect_device **kin_dev, KinectParams *kin_params);

45

46 void stop_kinect_video_frames(freenect_device *kin_dev);

47 void stop_kinect_depth_frames(freenect_device *kin_dev);

48 void stop_kinect_frames(freenect_device *kin_dev);

49

50 void stop_kinect(freenect_context *kin_ctx, freenect_device *kin_dev);

51

52 #endif // KINECT_H_