text: /*  ------------------------------------------------------------------
      Copyright (c) 2011-2020 Marc Toussaint
      email: toussaint@tu-berlin.de
  
      This code is distributed under the MIT License.
      Please see <root-path>/LICENSE for details.
      --------------------------------------------------------------  */
  
  #pragma once
  
  #include "../Core/thread.h"
  
  struct KinectDepthPacking : Thread {
    Var<uint16A> kinect_depth;
    Var<byteA> kinect_depthRgb;
    KinectDepthPacking() : Thread("KinectDepthPacking"), kinect_depth(this, true) {}
    void open();
    void step();
    void close();
  };
  
  namespace rai {
  // pack 16bit depth image into 3 8-bit channels
  void pack_kindepth2rgb(const uint16A& depth, byteA& buffer);
  }
  