示例#1
0
        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();
示例#2
0
 double             getVFov()const{ return m_stream.getVerticalFieldOfView(); }