fast::KinectStreamer class

Streams data RGB and depth data from a kinect device.

The RGB camera and depth stream are registered so that a color value for each point in the point cloud is established.

Default streaming mode is StreamingMode::NewestFrameOnly

Output port 0: Registered RGB image Output port 1: Registered depth image Output port 2: Registered point cloud

Base classes

class Streamer
Abstract base class for all Streamers.

Constructors, destructors, conversion operators


Public functions

void producerStream()
void setPointCloudFiltering(bool enabled)
void setMaxRange(float range)
void setMinRange(float range)
auto hasReachedEnd() -> bool
auto getNrOfFrames() const -> uint
auto getPoint(int x, int y) -> MeshVertex
void stop() virtual

Private functions

void execute() virtual

Function documentation

void fast::KinectStreamer::setMaxRange(float range)


Set maximum range in meters. All points above this range will be dropped.

void fast::KinectStreamer::setMinRange(float range)


Set minimum range in meters. All points below this range will be dropped.

MeshVertex fast::KinectStreamer::getPoint(int x, int y)


Gets corresponding 3D point from rgb image coordinate

void fast::KinectStreamer::stop() virtual

Stop the stream