freenect.cpp File Reference

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <math.h>
#include <sys/time.h>
#include <unistd.h>
#include <inttypes.h>
#include <pthread.h>
#include <zlib.h>
#include <glib.h>
#include <lcm/lcm.h>
#include <libfreenect.h>
#include <lcmtypes/kinect_depth_msg_t.h>
#include <lcmtypes/kinect_image_msg_t.h>
#include <lcmtypes/kinect_frame_msg_t.h>
#include <lcmtypes/kinect_cmd_msg_t.h>
#include <lcmtypes/kinect_sensor_status_t.h>
#include "jpeg-utils-ijg.h"
#include "timestamp.h"
#include "pixels.h"

Include dependency graph for freenect.cpp:

Go to the source code of this file.

Classes
struct	_rate_t
struct	_state_t
Defines
#define	alpha   0.05
#define	dbg(...)   fprintf(stderr, __VA_ARGS__)
Typedefs
typedef struct _rate_t	rate_t
typedef struct _state_t	state_t
Functions
void	cmd_cb (const lcm_recv_buf_t *rbuf __attribute__((unused)), const char *channel __attribute__((unused)), const kinect_cmd_msg_t *msg, void *user)
static void	convert_packed_to_16bit (uint8_t *raw, uint16_t *frame, int vw, int len)
void	depth_cb (freenect_device *dev, void *data, uint32_t timestamp)
static void *	freenect_threadfunc (void *user_data)
void	image_cb (freenect_device *dev, void *data, uint32_t timestamp)
int	main (int argc, char **argv)
static void	populate_status (state_t *state, kinect_frame_msg_t *msg, int64_t timestamp)
int	rate_check (rate_t *rate)
void	rate_destroy (rate_t *rate)
rate_t *	rate_new (double target_hz)
static void	set_image_depth_formats (state_t *state)
static void *	status_thread (void *user)
static void	usage (const char *progname)

---

Define Documentation

#define alpha   0.05

Definition at line 34 of file freenect.cpp.

#define dbg

(

...

)

fprintf(stderr, __VA_ARGS__)

Definition at line 32 of file freenect.cpp.

---

Typedef Documentation

typedef struct _rate_t rate_t

typedef struct _state_t state_t

---

Function Documentation

void cmd_cb	(	const lcm_recv_buf_t *rbuf	__attribute__(unused),
		const char *channel	__attribute__(unused),
		const kinect_cmd_msg_t *	msg,
		void *	user
	)

Definition at line 254 of file freenect.cpp.

static void convert_packed_to_16bit	(	uint8_t *	raw,
		uint16_t *	frame,
		int	vw,
		int	len
	)		[inline, static]

Definition at line 293 of file freenect.cpp.

void depth_cb	(	freenect_device *	dev,
		void *	data,
		uint32_t	timestamp
	)

Definition at line 309 of file freenect.cpp.

static void* freenect_threadfunc

(

void *

user_data

)

[static]

Definition at line 480 of file freenect.cpp.

void image_cb	(	freenect_device *	dev,
		void *	data,
		uint32_t	timestamp
	)

Definition at line 403 of file freenect.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 615 of file freenect.cpp.

static void populate_status	(	state_t *	state,
		kinect_frame_msg_t *	msg,
		int64_t	timestamp
	)		[static]

Definition at line 122 of file freenect.cpp.

int rate_check

(

rate_t *

rate

)

returns: 1 if an image should be published. 0 if not

Definition at line 175 of file freenect.cpp.

void rate_destroy

(

rate_t *

rate

)

Definition at line 170 of file freenect.cpp.

rate_t * rate_new

(

double

target_hz

)

Definition at line 162 of file freenect.cpp.

static void set_image_depth_formats

(

state_t *

state

)

[static]

Definition at line 198 of file freenect.cpp.

static void* status_thread

(

void *

user

)

[static]

Definition at line 552 of file freenect.cpp.

static void usage

(

const char *

progname

)

[static]

Definition at line 573 of file freenect.cpp.