//////////////////////////////////////////////////////////////////
//?Kinect?capture
//?by?Daniel?Herrera?C.
//////////////////////////////////////////////////////////////////
#include?“freenect_module.h“
#include?

namespace?kinect_capture?{

//////////////////////////////////////////////////////////////////
//?Cfreenect_module?members
//////////////////////////////////////////////////////////////////
Cfreenect_module::Cfreenect_module（）:
????die（false）
????mutex（PTHREAD_MUTEX_INITIALIZER）
????depth_frame（new?cv::Mat1s（））
????video_frame（new?cv::Mat（））
????got_depth（0）?
????got_video（0）
????f_ctx（NULL）
????f_dev（NULL）
????depth_back（new?cv::Mat1s（））
????video_back（new?cv::Mat（））
{
????pthread_cond_init（&data_ready_cond?NULL）;

????set_mode（
		freenect_find_video_mode（FREENECT_RESOLUTION_MEDIUM?FREENECT_VIDEO_YUV_RGB）
		//freenect_find_video_mode（FREENECT_RESOLUTION_HIGH?FREENECT_VIDEO_BAYER）
????????freenect_find_depth_mode（FREENECT_RESOLUTION_MEDIUM?FREENECT_DEPTH_11BIT））;
}

Cfreenect_module::~Cfreenect_module（）
{
????pthread_cond_destroy（&data_ready_cond）;
????delete?video_frame;
????delete?depth_frame;
????delete?depth_back;
????delete?video_back;
}

int?Cfreenect_module::video_format2mat_type（freenect_video_format?format）?{
????switch（format）{
????case?FREENECT_VIDEO_RGB:
????case?FREENECT_VIDEO_YUV_RGB:
????????return?CV_8UC3;
????case?FREENECT_VIDEO_BAYER:
????case?FREENECT_VIDEO_IR_8BIT:
????????return?CV_8UC1;
????}
}

void?Cfreenect_module::set_mode（freenect_frame_mode?video?freenect_frame_mode?depth）?{
????video_mode?=?video;
????depth_mode?=?depth;
????????
????depth_frame->create（depth.height?depth.width）;
????video_frame->create（video.height?video.width?Cfreenect_module::video_format2mat_type（video.video_format））;
????depth_back->create（depth_mode.height?depth_mode.width）;
????video_back->create（video_mode.height?video_mode.width?Cfreenect_module::video_format2mat_type（video_mode.video_format））;
}

void?Cfreenect_module::static_depth_callback（freenect_device?*dev?void?*depth?uint32_t?timestamp）?{
????Cfreenect_module?*module?=?（Cfreenect_module*）freenect_get_user（dev）;
????module->depth_callback（devdepthtimestamp）;
}
void?Cfreenect_module::static_video_callback（freenect_device?*dev?void?*video?uint32_t?timestamp）?{
????Cfreenect_module?*module?=?（Cfreenect_module*）freenect_get_user（dev）;
????module->video_callback（devvideotimestamp）;
}

void?Cfreenect_module::depth_callback（freenect_device?*dev?void?*depth?uint32_t?timestamp）?{
????assert（depth?==?depth_back->data）;
????pthread_mutex_lock（&mutex）;

????std::swap（depth_back?depth_frame）;?//Swap?buffers

????freenect_set_depth_buffer（dev?depth_back->data）;
????got_depth++;
????
????pthread_mutex_unlock（&mutex）;
????pthread_cond_signal（&data_ready_cond）;
}

void?Cfreenect_module::video_callback（freenect_device?*dev?void?*video?uint32_t?timestamp）?{
????ass

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2012-06-15?18:35??v2.1\
?????目錄???????????0??2012-06-15?18:35??v2.1\capture\
?????文件????????2789??2012-06-08?18:27??v2.1\capture\CMakeLists.txt
?????文件????????5196??2012-06-12?20:19??v2.1\capture\freenect_module.cpp
?????文件????????2060??2012-06-12?20:21??v2.1\capture\freenect_module.h
?????文件????????3944??2012-06-15?18:13??v2.1\capture\kinect_calibration.cpp
?????文件????????3924??2012-06-13?19:23??v2.1\capture\kinect_calibration.h
?????文件?????????140??2012-06-11?18:34??v2.1\capture\kinect_capture.cpp
?????文件???????14139??2012-06-13?19:58??v2.1\capture\kinect_capture_app.cpp
?????文件????????3575??2012-06-11?19:59??v2.1\capture\kinect_capture_app.h
?????目錄???????????0??2012-06-15?18:29??v2.1\data\
?????文件??????141643??2012-01-25?16:45??v2.1\data\0000-c1.jpg
?????文件??????222016??2012-01-25?16:47??v2.1\data\0000-c2.jpg
?????文件??????614416??2011-07-11?21:15??v2.1\data\0000-d.pgm
?????文件??????143877??2012-01-25?16:45??v2.1\data\0001-c1.jpg
?????文件??????226893??2012-01-25?16:47??v2.1\data\0001-c2.jpg
?????文件??????614416??2011-07-11?21:17??v2.1\data\0001-d.pgm
?????文件??????145834??2012-01-25?16:45??v2.1\data\0002-c1.jpg
?????文件??????234339??2012-01-25?16:47??v2.1\data\0002-c2.jpg
?????文件??????614416??2011-07-11?21:18??v2.1\data\0002-d.pgm
?????文件??????150377??2012-01-25?16:45??v2.1\data\0003-c1.jpg
?????文件??????237642??2012-01-25?16:47??v2.1\data\0003-c2.jpg
?????文件??????614416??2011-07-11?21:18??v2.1\data\0003-d.pgm
?????文件??????186641??2012-01-25?16:45??v2.1\data\0004-c1.jpg
?????文件??????244325??2012-01-25?16:47??v2.1\data\0004-c2.jpg
?????文件??????614416??2011-07-11?21:19??v2.1\data\0004-d.pgm
?????文件??????204717??2012-01-25?16:45??v2.1\data\0005-c1.jpg
?????文件??????252354??2012-01-25?16:47??v2.1\data\0005-c2.jpg
?????文件??????614416??2011-07-11?21:21??v2.1\data\0005-d.pgm
?????文件??????215425??2012-01-25?16:45??v2.1\data\0006-c1.jpg
?????文件??????259406??2012-01-25?16:47??v2.1\data\0006-c2.jpg
............此處省略278個文件信息