Class Freenect2DeviceImpl

src/libfreenect2.cpp:209–271

Freenect2 device implementation. */

/** Freenect2 device implementation. */
class Freenect2DeviceImpl : public Freenect2Device
{
private:
  enum State
  {
    Created,
    Open,
    Streaming,
    Closed
  };

  State state_;
  bool has_usb_interfaces_;

  Freenect2Impl *context_;
  libusb_device *usb_device_;
  libusb_device_handle *usb_device_handle_;

  BulkTransferPool rgb_transfer_pool_;
  IsoTransferPool ir_transfer_pool_;

  UsbControl usb_control_;
  CommandTransaction command_tx_;
  int command_seq_;

  const PacketPipeline *pipeline_;
  std::string serial_, firmware_;
  Freenect2Device::IrCameraParams ir_camera_params_;
  Freenect2Device::ColorCameraParams rgb_camera_params_;
public:
  Freenect2DeviceImpl(Freenect2Impl *context, const PacketPipeline *pipeline, libusb_device *usb_device, libusb_device_handle *usb_device_handle, const std::string &serial);
  virtual ~Freenect2DeviceImpl();

  bool isSameUsbDevice(libusb_device* other);

  virtual std::string getSerialNumber();
  virtual std::string getFirmwareVersion();

  virtual Freenect2Device::ColorCameraParams getColorCameraParams();
  virtual Freenect2Device::IrCameraParams getIrCameraParams();
  virtual void setColorCameraParams(const Freenect2Device::ColorCameraParams &params);
  virtual void setIrCameraParams(const Freenect2Device::IrCameraParams &params);
  virtual void setConfiguration(const Freenect2Device::Config &config);

  int nextCommandSeq();

  bool open();

  virtual void setColorFrameListener(libfreenect2::FrameListener* rgb_frame_listener);
  virtual void setIrAndDepthFrameListener(libfreenect2::FrameListener* ir_frame_listener);
  virtual void setColorAutoExposure(float exposure_compensation = 0);
  virtual void setColorSemiAutoExposure(float pseudo_exposure_time_ms);
  virtual void setColorManualExposure(float integration_time_ms, float analog_gain);
  virtual void setColorSetting(ColorSettingCommandType cmd, uint32_t value);
  virtual void setColorSetting(ColorSettingCommandType cmd, float value);
  virtual uint32_t getColorSetting(ColorSettingCommandType cmd);
  virtual float getColorSettingFloat(ColorSettingCommandType cmd);
  virtual void setLedStatus(LedSettings led);