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84794fe Dec 27, 2016
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#ifndef __APP__
#define __APP__
#include <Windows.h>
#include <Kinect.h>
#include <opencv2/opencv.hpp>
#include <opencv2/viz.hpp>
#include <vector>
#include <wrl/client.h>
using namespace Microsoft::WRL;
class Kinect
{
private:
// Sensor
ComPtr<IKinectSensor> kinect;
// Coordinate Mapper
ComPtr<ICoordinateMapper> coordinateMapper;
// Reader
ComPtr<IColorFrameReader> colorFrameReader;
ComPtr<IDepthFrameReader> depthFrameReader;
// Color Buffer
std::vector<BYTE> colorBuffer;
int colorWidth;
int colorHeight;
unsigned int colorBytesPerPixel;
cv::Mat colorMat;
// Depth Buffer
std::vector<UINT16> depthBuffer;
int depthWidth;
int depthHeight;
unsigned int depthBytesPerPixel;
// Point Cloud Buffer
cv::viz::Viz3d viewer;
cv::Mat cloudMat;
public:
// Constructor
Kinect();
// Destructor
~Kinect();
// Processing
void run();
private:
// Initialize
void initialize();
// Initialize Sensor
inline void initializeSensor();
// Initialize Color
inline void initializeColor();
// Initialize Depth
inline void initializeDepth();
// Initialize Point Cloud
inline void initializePointCloud();
// Keyboard Callback Function
static void keyboardCallback( const cv::viz::KeyboardEvent& event, void* cookie );
// Finalize
void finalize();
// Update Data
void update();
// Update Color
inline void updateColor();
// Update Depth
inline void updateDepth();
// Draw Data
void draw();
// Draw Color
inline void drawColor();
// Draw Point Cloud
inline void drawPointCloud();
// Show Data
void show();
// Show Point Cloud
inline void showPointCloud();
};
#endif // __APP__