eleni@4: #include <cxcore.h>
eleni@4: #include <highgui.h> //TODO remove
eleni@4: 
eleni@2: #include <pthread.h>
eleni@1: #include <stdio.h>
eleni@2: #include <string.h>
eleni@1: 
eleni@1: #include "frame.h"
eleni@2: #include "kinect.h"
eleni@1: 
eleni@2: extern Frame *frame;
eleni@2: extern KinectParams *kin_params;
eleni@1: 
eleni@2: extern bool has_video;
eleni@2: extern bool has_depth;
eleni@2: 
eleni@2: Frame::Frame()
eleni@1: {
eleni@4:     video_buf = cv::Mat(FREENECT_VIDEO_WIDTH, FREENECT_VIDEO_HEIGHT, CV_8UC1, 0);
eleni@4:     depth_buf = cv::Mat(FREENECT_DEPTH_WIDTH, FREENECT_DEPTH_HEIGHT, CV_16UC1, 0);
eleni@1: }
eleni@1: 
eleni@2: void Frame::process()
eleni@1: {
eleni@2: 	if(has_video && has_depth)
eleni@2: 		printf("Depth and Rgb\n");
eleni@2: }
eleni@2: 
eleni@2: void video_cb(freenect_device *kin_dev, void *video, uint32_t time)
eleni@2: {
eleni@4: 	if(!video || !frame) {
eleni@2: 		has_video = false;
eleni@2: 		return;
eleni@2: 	}
eleni@2: 
eleni@4:     uint8_t* video_data = static_cast<uint8_t*>(video);
eleni@4:     frame->video_buf.data = (uchar*)video_data;
eleni@4:     //frame->video_buf.convertTo(frame->video_buf, CV_8UC1);
eleni@4:     cv::imshow("wx", frame->video_buf);
eleni@4:     cv::waitKey(100);
eleni@2: 	has_video = true;
eleni@1: }
eleni@1: 
eleni@1: void depth_cb(freenect_device *kin_dev, void *depth, uint32_t time)
eleni@1: {
eleni@2: 	if(!depth) {
eleni@2: 		has_depth = false;
eleni@2: 		return;
eleni@2: 	}
eleni@2: 
eleni@4:     uint16_t* depth_data = static_cast<uint16_t*>(depth);
eleni@4:     frame->depth_buf.data = (uchar*)depth_data;
eleni@2: 	has_depth = true;
eleni@1: }