Implementing FreenectDevice Interface, this class is used internally by VideoSource_Kinect - do not use directly. More...

#include <VideoSource/VideoSource_Kinect.hh>

Inheritance diagram for BIAS::VideoSource_Kinect_Callback:

Collaboration diagram for BIAS::VideoSource_Kinect_Callback:

Public Member Functions
void	CreateLookupTable (double px, double py, double fx, double fy)

virtual void	DepthCallback (void *depth, uint32_t timestamp)
	libfreenect thread calls this when new depth data is available More...

virtual int	GetLatestColor (Camera< unsigned char > &image)
	Callbacks store image data in double buffer, get latest. More...

virtual int	GetLatestDepth (Camera< float > &image)
	Callbacks store image data in double buffer, get latest Note that the depth image is shifted by 3 pixels in order to fit the IR image. More...

virtual void	SetDepthMode (int mode)

virtual int	SetSwitchVideoModeAfterGrab (bool switchMode)

virtual int	SetVideoMode (freenect_video_format format)

virtual void	VideoCallback (void *video, uint32_t timestamp)
	libfreenect thread calls this when new color data is available More...

	VideoSource_Kinect_Callback (freenect_context *_ctx, int _index)
	libfreenect constructor used by VideoSource_Kinect, do not use directly More...

Protected Attributes
int	capMode_

pthread_mutex_t *	color_mutex

pthread_mutex_t *	coloravail_mutex

std::vector< Camera< unsigned char > >	colorbuffer_

pthread_mutex_t *	depth_mutex

pthread_mutex_t *	depthavail_mutex

std::vector< Camera< float > >	depthbuffer_

Image< float >	depthLookupTable_

freenect_video_format	format_

float	lookup_ [2048]

pthread_cond_t *	newColorAvail_

pthread_cond_t *	newDepthAvail_

bool	switch_

int	writingToC_

int	writingToD_

Detailed Description

Implementing FreenectDevice Interface, this class is used internally by VideoSource_Kinect - do not use directly.

Author: fkellner 02/11

Definition at line 154 of file VideoSource_Kinect.hh.

Constructor & Destructor Documentation

BIAS::VideoSource_Kinect_Callback::VideoSource_Kinect_Callback	(	freenect_context *	_ctx,
		int	_index
	)

libfreenect constructor used by VideoSource_Kinect, do not use directly

Parameters

_ctx	libfreenect context, i.e. opened usb bus
_index	index of camera on context/bus

Author: fkellner 02/11

Definition at line 274 of file VideoSource_Kinect.cpp.

References capMode_, BIAS::ImageBase::CM_Bayer_GRBG, color_mutex, coloravail_mutex, colorbuffer_, depth_mutex, depthavail_mutex, depthbuffer_, BIAS::VideoSource_Kinect_Base::DepthRay, lookup_, newColorAvail_, newDepthAvail_, switch_, writingToC_, and writingToD_.

Member Function Documentation

void BIAS::VideoSource_Kinect_Callback::CreateLookupTable	(	double	px,
		double	py,
		double	fx,
		double	fy
	)

Definition at line 440 of file VideoSource_Kinect.cpp.

References depthLookupTable_, BIAS::Image< StorageType >::GetImageDataArray(), BIAS::Image< StorageType >::Init(), and BIAS::ImageBase::IsEmpty().

void BIAS::VideoSource_Kinect_Callback::DepthCallback	(	void *	depth,
		uint32_t	timestamp
	)

virtual

libfreenect thread calls this when new depth data is available

Parameters

video	pointer to depth bytes (2 per pixel)
timestamp	frame timestamp, todo: interpret, put as metadata

Author: fkellner 02/11

Definition at line 325 of file VideoSource_Kinect.cpp.

References capMode_, depth_mutex, depthbuffer_, BIAS::VideoSource_Kinect_Base::DepthEuclidean, depthLookupTable_, BIAS::VideoSource_Kinect_Base::DepthRaw, BIAS::VideoSource_Kinect_Base::DepthRay, BIAS::Image< StorageType >::GetImageData(), lookup_, newDepthAvail_, and writingToD_.

int BIAS::VideoSource_Kinect_Callback::GetLatestColor ( Camera< unsigned char > & image )

virtual

Callbacks store image data in double buffer, get latest.

Parameters

image color image

Author: fkellner 02/11

Definition at line 369 of file VideoSource_Kinect.cpp.

References color_mutex, coloravail_mutex, colorbuffer_, BIAS::ImageBase::CopyIn_NoInit(), format_, newColorAvail_, SetVideoMode(), switch_, and writingToC_.

int BIAS::VideoSource_Kinect_Callback::GetLatestDepth ( Camera< float > & image )

virtual

Callbacks store image data in double buffer, get latest Note that the depth image is shifted by 3 pixels in order to fit the IR image.

Parameters

image depth image

Author: fkellner 02/11

Definition at line 388 of file VideoSource_Kinect.cpp.

References depth_mutex, depthavail_mutex, depthbuffer_, BIAS::Image< StorageType >::GetImageData(), newDepthAvail_, and writingToD_.

void BIAS::VideoSource_Kinect_Callback::SetDepthMode ( int mode )

virtual

Definition at line 433 of file VideoSource_Kinect.cpp.

References capMode_.

int BIAS::VideoSource_Kinect_Callback::SetSwitchVideoModeAfterGrab ( bool switchMode )

virtual

Definition at line 426 of file VideoSource_Kinect.cpp.

References switch_.

int BIAS::VideoSource_Kinect_Callback::SetVideoMode ( freenect_video_format format )

virtual

Definition at line 406 of file VideoSource_Kinect.cpp.

References format_.

Referenced by GetLatestColor().

void BIAS::VideoSource_Kinect_Callback::VideoCallback	(	void *	video,
		uint32_t	timestamp
	)

virtual

libfreenect thread calls this when new color data is available

Parameters

video	pointer to color bytes (3 per pixel), todo: convince libfreenect to deliver raw rggb data
timestamp	frame timestamp, todo: interpret, put as metadata