fast::KinectStreamer class
#include <FAST/Streamers/KinectStreamer.hpp>

Streams data RGB and depth data from a kinect device.

Contents

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

~KinectStreamer()

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)

Parameters
range

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

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

Parameters
range

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

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

Parameters
x
y

Gets corresponding 3D point from rgb image coordinate

void fast::KinectStreamer::stop() virtual

Stop the stream