KinectHandler Class Reference

The KinectHandler class is an interface to comunicate with the kinect SDK. More...

#include <kinecthandler.h>

Public Member Functions
	KinectHandler ()
	~KinectHandler ()
virtual void	init ()
	init creates the conection with the device More...
virtual void	waitFrame ()
	waitFrame waits until there is a frame avaliable to retrieve More...
virtual void	getDepthMap16 (Mat &depthMap)
	getDepthMap16 retrieves the depthmap of the current frame 16 precision More...
virtual void	getDepthMap08 (Mat &depthMap)
	getDepthMap16 retrieves the depthmap of the current frame 8 precision More...
virtual void	getImage (Mat &image)
	getImage retrieves the RGB image from the current frame More...
int	getResWidth () const
void	setResWidth (int value)
int	getResHeight () const
void	setResHeight (int value)

Static Public Member Functions
static void	depthMapCorrection (Mat &input, Mat &output, bool interPolate=false)
	depthMapCorrection uses opencv inpaint to correct the holes from the depthmap More...

Protected Attributes
Context	context
ImageGenerator	g_image
DepthGenerator	d_image
ImageMetaData	g_imageMD
EnumerationErrors	errors
XnStatus	nRetVal
const XnDepthPixel *	pDepthMap
const XnRGB24Pixel *	pImage
int	ResWidth
int	ResHeight

Detailed Description

The KinectHandler class is an interface to comunicate with the kinect SDK.

The aim of this class is being able to make the system more modular this class is the only one needed to be modified when there are changes on the kinect SDK

Constructor & Destructor Documentation

KinectHandler::KinectHandler

(

)

KinectHandler::~KinectHandler

(

)

Member Function Documentation

void KinectHandler::depthMapCorrection ( Mat &  input, Mat &  output, bool  interPolate = false  )

static

depthMapCorrection uses opencv inpaint to correct the holes from the depthmap

Parameters

input	is an opencv Mat of type CV_16UC1 depthmap with holes to be corrected
output	is an opencv Mat of type CV_8UC1 depthmap with corrected holes
interPolate	if true the computing is interpolated for faster performance

void KinectHandler::getDepthMap08 ( Mat &  depthMap )

virtual

getDepthMap16 retrieves the depthmap of the current frame 8 precision

Parameters

depthMap

i/o variable that returns the depthmap using a opencv Mat of type CV_8UC1

void KinectHandler::getDepthMap16 ( Mat &  depthMap )

virtual

getDepthMap16 retrieves the depthmap of the current frame 16 precision

Parameters

depthMap

i/o variable that returns the depthmap using a opencv Mat of type CV_16UC1

void KinectHandler::getImage ( Mat &  image )

virtual

getImage retrieves the RGB image from the current frame

Parameters

image

i/o variable that returns the RGB image using a opencv Mat of type CV_8UC3

int KinectHandler::getResHeight

(

)

const

int KinectHandler::getResWidth

(

)

const

void KinectHandler::init ( )

virtual

init creates the conection with the device

void KinectHandler::setResHeight

(

int

value

)

void KinectHandler::setResWidth

(

int

value

)

void KinectHandler::waitFrame ( )

virtual

waitFrame waits until there is a frame avaliable to retrieve

Member Data Documentation

Context KinectHandler::context

protected

DepthGenerator KinectHandler::d_image

protected

EnumerationErrors KinectHandler::errors

protected

ImageGenerator KinectHandler::g_image

protected

ImageMetaData KinectHandler::g_imageMD

protected

XnStatus KinectHandler::nRetVal

protected

const XnDepthPixel* KinectHandler::pDepthMap

protected

const XnRGB24Pixel* KinectHandler::pImage

protected

int KinectHandler::ResHeight

protected

int KinectHandler::ResWidth

protected

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The documentation for this class was generated from the following files:

• kinecthandler.h
• kinecthandler.cpp