Camera*const camera;
/// Device
kinect::Device device;
bool initialized;
/// Streams
kinect::VideoStream g_depthStream;
kinect::VideoStream g_colorStream;
/// Frames
kinect::VideoFrameRef g_depthFrame;
kinect::VideoFrameRef g_colorFrame;
float fov_h = g_depthStream.getHorizontalFieldOfView();
float fl_h = .5*w / tan(.5*fov_h);
float h = g_depthStream.getVideoMode().getResolutionY();
float fov_v = g_depthStream.getVerticalFieldOfView();
float fl_v = .5*h / tan(.5*fov_v);
std::cout << "cameras focal lengths" << fl_h << fl_v;
#endif
initialized = true;
return true;
}
SensorOpenNI::~SensorOpenNI()
{
if(initialized){
LOG(INFO) << "Shutting down Kinect...";
flush(std::cout);
g_depthStream.destroy();
g_colorStream.destroy();
double getVFov()const{ return m_stream.getVerticalFieldOfView(); }