////////////////////////////////////////////////////////////////////////////////
// public member functions
////////////////////////////////////////////////////////////////////////////////
int IntelCamera::NextFrame()
{
// color & depth image : force to synchronize
if ( ProcessColor()==-1 ) return -1;
if ( ProcessDepth()==-1 ) return -1;
// point cloud
if ( MapColorToDepth()==-1 ) return -1;
return 1;
}
//NOTE: Based on tests, data range seems to be valid between 511 (0x1FF) and 8191 (0x1FFF).
void GetData(ColorImage& colorImage, DepthImage& depthImage, BinaryImage& validityImage)
{
static DepthImage rawDepthImage;
//Get the colour and depth data
static DataTypes::ColorImage unalignedColorImage;
//!!GetColorAndDepthImages(colorImage, rawDepthImage);
GetColorAndDepthImages(unalignedColorImage, depthImage);
// Align the color and depth images
MapColorToDepth(depthImage, unalignedColorImage, colorImage);
// Get an image which specifies the valid depth pixels
//!!GetValidPixelMap(rawDepthImage, validityImage);
GetValidPixelMap(depthImage, validityImage);
// Process the depth data
//!!PreProcessDepthData(rawDepthImage, depthImage);
PreProcessDepthData(depthImage, depthImage);
return;
}
