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KinectDevice.h
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KinectDevice.h
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#pragma once
#ifndef KINECT_DEVICE_H
#define KINECT_DEVICE_H
#include <mutex>
#include <chrono>
#include "libfreenect.hpp"
#include "opencv2/core/core.hpp"
class KinectDevice : public Freenect::FreenectDevice {
public:
KinectDevice(freenect_context *ctx, int index);
void VideoCallback(void* rgb, uint32_t timestamp) override;
void DepthCallback(void* depth, uint32_t timestamp) override;
void getVideo(cv::Mat &output, int64_t ×tamp) noexcept;
void getDepth(cv::Mat &output, int64_t ×tamp) noexcept;
private:
cv::Mat _depthMat{cv::Mat(cv::Size(640,480), CV_16UC1)};
cv::Mat _rgbMat{cv::Mat(cv::Size(640,480), CV_8UC3, cv::Scalar(0))};
std::mutex _rgbMutex;
std::mutex _depthMutex;
int64_t _rgbTimestamp;
int64_t _depthTimestamp;
bool _getNewRgbFrame{false};
bool _getNewDepthFrame{false};
};
#endif // KINECT_DEVICE_H