Helper class for working with Microsoft's K4a (kinect)

#include <k4a/k4a.h>
#include <mutex>
#include "point.h"
/** @struct t_config
 * Kinect config
 *
 * @b Reference
 * https://docs.microsoft.com/en-us/azure/kinect-dk/hardware-specification#depth-camera-supported-operating-modes
 */
struct t_config {
 const int32_t TIMEOUT = 1000;
 k4a_device_t m_device = nullptr;
 k4a_device_configuration_t m_config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
 t_config()
 {
 m_config.color_resolution = K4A_COLOR_RESOLUTION_720P;
 m_config.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED; // 640 * 576
 m_config.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
 m_config.camera_fps = K4A_FRAMES_PER_SECOND_30;
 m_config.synchronized_images_only = true;
 }
};
extern const int RGB_TO_DEPTH;
extern const int DEPTH_TO_RGB;
/** @file kinect.h
 * Kinect device.
 */
class Kinect {
public:
 std::mutex m_mutex;
 int32_t m_timeout = 0;
 k4a_device_t m_device;
 k4a_capture_t m_capture = nullptr;
 k4a_calibration_t m_calibration {};
 k4a_transformation_t m_transform = nullptr;
 k4a_image_t m_pcl = nullptr; // point cloud
 k4a_image_t m_img = nullptr; // color image
 k4a_image_t m_c2d = nullptr; // color to depth image
 k4a_image_t m_d2c = nullptr; // depth to color image
 k4a_image_t m_xyT = nullptr; // xy table
 k4a_image_t m_xyPcl = nullptr; // point cloud from xy table
 k4a_image_t m_depth = nullptr; // depth image
 /** capture
 * Captures images using k4a device.
 */
 void capture();
 /** transform
 * Carries out requested transformation.
 *
 * @param transformFlag
 * Flag for transformation types, i.e.,
 * RGB_TO_DEPTH & DEPTH_TO_RGB
 */
 void transform(const int& transformFlag);
 /**
 * xyLookupTable
 * Pre-computes a lookup table by storing x and y depth
 * scale factors for every pixel.
 *
 * @param ptr_calibration
 * Calibration for the kinect device in question.
 *
 * @param depthImg
 * Depth map captured by the kinect device.
 */
 static void xyLookupTable(
 const k4a_calibration_t* ptr_calibration, k4a_image_t depthImg);
 /** close
 * Closes k4a device.
 */
 void close() const;
 void releaseK4aImages() const;
 void releaseK4aCapture() const;
 __attribute__((unused)) void releaseK4aTransform();
 void xyTable();
 void imgCapture();
 void pclCapture();
 void c2dCapture();
 void depthCapture();
 Kinect();
 ~Kinect();
};

#include "kinect.h" // <- include header
int main(int argc, char* argv[])
{
 Kinect kinect();
 kinect.capture();
 kinect.depthCapture();
 kinect.pclCapture();
 kinect.imgCapture();
 kinect.c2dCapture();
 kinect.transform(RGB_TO_DEPTH);
 auto* ptr_k4aImgData = k4a_image_get_buffer(kinect.m_c2d);
 auto* ptr_k4aPCloudData = (int16_t*)(void*)k4a_image_get_buffer(kinect.m_pcl);
 auto* ptr_k4aDepthData = (uint16_t*)(void*)k4a_image_get_buffer(kinect.m_depth);
 auto* ptr_k4aTableData = (k4a_float2_t*)(void*)k4a_image_get_buffer(kinect.m_xyT);
 // ------> do stuff data <-----
 // ------> do stuff data <-----
 kinect.releaseK4aImages();
 kinect.releaseK4aCapture();
 return 0;
}