void rgb_cb(freenect_device *dev, void *img_data, uint32_t timestamp)
{
CKinect *obj = reinterpret_cast<CKinect*>(freenect_get_user(dev));
const freenect_frame_mode frMode = freenect_get_current_video_mode(dev);
// Update of the timestamps at the end:
CObservation3DRangeScan &obs = obj->internal_latest_obs();
mrpt::synch::CCriticalSectionLocker lock( &obj->internal_latest_obs_cs() );
#ifdef KINECT_PROFILE_MEM_ALLOC
alloc_tim.enter("depth_rgb loadFromMemoryBuffer");
#endif
obs.hasIntensityImage = true;
if (obj->getVideoChannel()==CKinect::VIDEO_CHANNEL_RGB)
{
// Color image: We asked for Bayer data, so we can decode it outselves here
// and avoid having to reorder Green<->Red channels, as would be needed with
// the RGB image from freenect.
obs.intensityImageChannel = mrpt::slam::CObservation3DRangeScan::CH_VISIBLE;
obs.intensityImage.resize(frMode.width, frMode.height, CH_RGB, true /* origin=top-left */ );
#if MRPT_HAS_OPENCV
# if MRPT_OPENCV_VERSION_NUM<0x200
// Version for VERY OLD OpenCV versions:
IplImage *src_img_bayer = cvCreateImageHeader(cvSize(frMode.width,frMode.height),8,1);
src_img_bayer->imageDataOrigin = reinterpret_cast<char*>(img_data);
src_img_bayer->imageData = src_img_bayer->imageDataOrigin;
src_img_bayer->widthStep = frMode.width;
IplImage *dst_img_RGB = obs.intensityImage.getAs<IplImage>();
// Decode Bayer image:
cvCvtColor(src_img_bayer, dst_img_RGB, CV_BayerGB2BGR);
# else
// Version for modern OpenCV:
const cv::Mat src_img_bayer( frMode.height, frMode.width, CV_8UC1, img_data, frMode.width );
cv::Mat dst_img_RGB= cv::cvarrToMat( obs.intensityImage.getAs<IplImage>(), false /* dont copy buffers */ );
// Decode Bayer image:
cv::cvtColor(src_img_bayer, dst_img_RGB, CV_BayerGB2BGR);
# endif
#else
THROW_EXCEPTION("Need building with OpenCV!")
#endif
}
// ======== GLOBAL CALLBACK FUNCTIONS ========
void depth_cb(freenect_device* dev, void* v_depth, uint32_t timestamp)
{
const freenect_frame_mode frMode = freenect_get_current_video_mode(dev);
uint16_t* depth = reinterpret_cast<uint16_t*>(v_depth);
CKinect* obj = reinterpret_cast<CKinect*>(freenect_get_user(dev));
// Update of the timestamps at the end:
std::lock_guard<std::mutex> lock(obj->internal_latest_obs_cs());
CObservation3DRangeScan& obs = obj->internal_latest_obs();
obs.hasRangeImage = true;
obs.range_is_depth = true;
#ifdef KINECT_PROFILE_MEM_ALLOC
alloc_tim.enter("depth_cb alloc");
#endif
// This method will try to exploit memory pooling if possible:
obs.rangeImage_setSize(frMode.height, frMode.width);
#ifdef KINECT_PROFILE_MEM_ALLOC
alloc_tim.leave("depth_cb alloc");
#endif
const CKinect::TDepth2RangeArray& r2m = obj->getRawDepth2RangeConversion();
for (int r = 0; r < frMode.height; r++)
for (int c = 0; c < frMode.width; c++)
{
// For now, quickly save the depth as it comes from the sensor,
// it'll
// transformed later on in getNextObservation()
const uint16_t v = *depth++;
obs.rangeImage.coeffRef(r, c) = r2m[v & KINECT_RANGES_TABLE_MASK];
}
obj->internal_tim_latest_depth() = timestamp;
}
