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_ */