KinectGrabber.hpp

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/*
 * KinecGrabber.h
 *
 *  Created on: 20.03.2012
 *      Author: Thomas Wiemann
 */
 
#ifndef KINECGRABBER_H_
#define KINECGRABBER_H_
 
#include "lvr2/io/PointBuffer.hpp"
#include "libfreenect.hpp"
 
#include <boost/thread.hpp"
#include <vector>
 
namespace lvr2
{
 
class KinectGrabber : public Freenect::FreenectDevice
{
public:
        KinectGrabber(freenect_context *_ctx, int _index);
        virtual ~KinectGrabber();
 
        void getDepthImage(std::vector<short> &img);
        void getColorImage(std::vector<uint8_t> &img);
 
protected:
        virtual void VideoCallback(void* data, uint32_t timestamp);
        virtual void DepthCallback(void* data, uint32_t timestamp);
 
        PointBufferPtr                  m_buffer;
 
        boost::mutex                    m_depthMutex;
 
        boost::mutex                    m_colorMutex;
 
        std::vector<short>              m_depthImage;
 
        std::vector<uint8_t>    m_colorImage;
 
        bool                                    m_haveData;
 
};
 
} // namespace lvr2
 
#endif /* KINECGRABBER_H_ */