void CameraNUI::onNextImage() {
short *depth = 0;
char *rgb = 0;
uint32_t ts;
int ret;
if (triggered && trigger.empty()) {
return;
} else {
// clear all triggers
while(!trigger.empty()) trigger.read();
}
// retrieve color image
cv::Size size;
if (resolution == FREENECT_RESOLUTION_MEDIUM)
size = cv::Size(640, 480);
if (resolution == FREENECT_RESOLUTION_HIGH)
size = cv::Size(1280, 1024);
cv::Mat image_out;
ret = freenect_sync_get_video_with_res((void**)&rgb, &ts, index, (int)resolution, imageType);
if(imageType == FREENECT_VIDEO_RGB) {
cv::Mat tmp_rgb(size, CV_8UC3, rgb);
cv::cvtColor(tmp_rgb, image_out, CV_RGB2BGR);
}
if(imageType == FREENECT_VIDEO_IR_8BIT) {
cv::Mat tmp_gray(size, CV_8UC1, rgb);
image_out = tmp_gray;
}
if(imageType == FREENECT_VIDEO_BAYER) {
cv::Mat tmp_gray(size, CV_8UC1, rgb);
image_out = tmp_gray;
}
//
//
// retrieve depth image
ret = freenect_sync_get_depth((void**)&depth, &ts, index, depthType);
cv::Mat tmp_depth(480, 640, CV_16UC1, depth);
tmp_depth.copyTo(depthFrame);
// write data to output streams
//outImg.write(cameraFrame);
outImg.write(image_out);
outDepthMap.write(depthFrame);
camera_info.write(m_camera_info);
}
void CameraNUI::onNextImage() {
short *depth = 0;
char *rgb = 0;
uint32_t ts;
int ret;
// retrieve color image
ret = freenect_sync_get_video((void**)&rgb, &ts, 0, FREENECT_VIDEO_RGB);
cv::Mat tmp_rgb(480, 640, CV_8UC3, rgb);
cv::cvtColor(tmp_rgb, cameraFrame, CV_RGB2BGR);
// retrieve depth image
ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_DEPTH_REGISTERED);
cv::Mat tmp_depth(480, 640, CV_16SC1, depth);
tmp_depth.copyTo(depthFrame);
// write data to output streams
outImg.write(cameraFrame);
outDepthMap.write(depthFrame);
camera_info.write(m_camera_info);
}
