Kinect Class Reference

A class that extends Freenect::FreenectDevice by defining the VideoCallback and DepthCallback functions so we can be getting updates with the latest RGB and Depth frames. More...

#include <freenect_rgbd.hpp>

Inheritance diagram for Kinect:

Collaboration diagram for Kinect:

Public Member Functions
	Kinect (freenect_context *ctx, int idx)
void	VideoCallback (void *rgb, uint32_t timestamp)
	Delivers the latest RGB frame. More...
void	DepthCallback (void *depth, uint32_t timestamp)
	Delivers the latest Depth frame. More...
void	setBuffers (cl::CommandQueue &queue, cl::Buffer &rgb, cl::Buffer &depth)
	Sets the host buffers for the RGB and Depth frames. More...
bool	deliverFrames (cl::CommandQueue &queue, cl::Buffer &rgb, cl::Buffer &depth)
	Transfers the RGB and Depth frames to the specified OpenCL buffers. More...

Detailed Description

A class that extends Freenect::FreenectDevice by defining the VideoCallback and DepthCallback functions so we can be getting updates with the latest RGB and Depth frames.

Constructor & Destructor Documentation

Kinect::Kinect	(	freenect_context *	ctx,
		int	idx
	)

Note

The creation of the device is done through the Freenect class.

Parameters

[in]	ctx	context to open device through (handled by the library).
[in]	idx	index of the device on the bus.

Member Function Documentation

bool Kinect::deliverFrames	(	cl::CommandQueue &	queue,
		cl::Buffer &	rgb,
		cl::Buffer &	depth
	)

Transfers the RGB and Depth frames to the specified OpenCL buffers.

Note

Transfers the frames from the staging buffers to the provided device buffers.

Parameters

[in]	queue	command queue that will handle the frame transfers.
[out]	rgb	OpenCL buffer to which to transfer the RGB frame.
[out]	depth	OpenCL buffer to which to transfer the Depth frame.

Returns

A flag to indicate whether new frames were present and got transfered.

void Kinect::DepthCallback	(	void *	depth,
		uint32_t	timestamp
	)

Delivers the latest Depth frame.

Note

Do not call directly, it's only used by the library.

Parameters

[in]	depth	an array holding the depth frame.
[in]	timestamp	a time stamp.

void Kinect::setBuffers	(	cl::CommandQueue &	queue,
		cl::Buffer &	hBufferRGB,
		cl::Buffer &	hBufferD
	)

Sets the host buffers for the RGB and Depth frames.

It maps the buffers and works with the returned pointers.

Parameters

[in]	queue	command queue associated with the buffers.
[in]	hBufferRGB	OpenCL buffer for the RGB frame.
[in]	hBufferD	OpenCL buffer for the Depth frame.

void Kinect::VideoCallback	(	void *	rgb,
		uint32_t	timestamp
	)

Delivers the latest RGB frame.

Note

Do not call directly, it's only used by the library.

Parameters

[in]	rgb	an array holding the rgb frame.
[in]	timestamp	a time stamp.

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The documentation for this class was generated from the following files:

• freenect_rgbd.hpp
• freenect_rgbd.cpp