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More work on Kinect integration.

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This commit is contained in:
Andrzej Kapolka 2013-06-25 15:26:07 -07:00
parent c683204df7
commit 3d214c2655
1 changed files with 13 additions and 1 deletions
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14
interface/src/Webcam.cpp
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@ -181,6 +181,8 @@ FrameGrabber::FrameGrabber() : _capture(0), _searchWindow(0, 0, 0, 0), _freenect
FrameGrabber::~FrameGrabber() { FrameGrabber::~FrameGrabber() {
if (_freenectContext != 0) { if (_freenectContext != 0) {
freenect_stop_depth(_freenectDevice);
freenect_stop_video(_freenectDevice);
freenect_close_device(_freenectDevice); freenect_close_device(_freenectDevice);
freenect_shutdown(_freenectContext); freenect_shutdown(_freenectContext);
@ -198,7 +200,7 @@ void FrameGrabber::grabFrame() {
return; return;
} }
if (_freenectContext != 0) { if (_freenectContext != 0) {
freenect_process_events(_freenectContext);
return; return;
} }
@ -250,11 +252,21 @@ void FrameGrabber::grabFrame() {
Q_ARG(cv::Mat, frame), Q_ARG(cv::RotatedRect, faceRect)); Q_ARG(cv::Mat, frame), Q_ARG(cv::RotatedRect, faceRect));
} }
static void depthCallback(freenect_device* freenectDevice, void* depth, uint32_t timestamp) {
}
static void videoCallback(freenect_device* freenectDevice, void* video, uint32_t timestamp) {
}
bool FrameGrabber::init() { bool FrameGrabber::init() {
// first try for a Kinect // first try for a Kinect
if (freenect_init(&_freenectContext, 0) >= 0) { if (freenect_init(&_freenectContext, 0) >= 0) {
if (freenect_num_devices(_freenectContext) > 0) { if (freenect_num_devices(_freenectContext) > 0) {
if (freenect_open_device(_freenectContext, &_freenectDevice, 0) >= 0) { if (freenect_open_device(_freenectContext, &_freenectDevice, 0) >= 0) {
freenect_set_depth_callback(_freenectDevice, depthCallback);
freenect_set_video_callback(_freenectDevice, videoCallback);
freenect_start_depth(_freenectDevice);
freenect_start_video(_freenectDevice);
return true; return true;
} }
} }