Class Freenect2Impl

src/libfreenect2.cpp:348–586

Freenect2 device storage and control. */

/** Freenect2 device storage and control. */
class Freenect2Impl
{
private:
  bool managed_usb_context_;
  libusb_context *usb_context_;
  EventLoop usb_event_loop_;
public:
  struct UsbDeviceWithSerial
  {
    libusb_device *dev;
    std::string serial;
  };
  typedef std::vector<UsbDeviceWithSerial> UsbDeviceVector;
  typedef std::vector<Freenect2DeviceImpl *> DeviceVector;

  bool has_device_enumeration_;
  UsbDeviceVector enumerated_devices_;
  DeviceVector devices_;

  bool initialized;

  Freenect2Impl(void *usb_context) :
    managed_usb_context_(usb_context == 0),
    usb_context_(reinterpret_cast<libusb_context *>(usb_context)),
    has_device_enumeration_(false),
    initialized(false)
  {
#ifdef __linux__
    if (libusb_get_version()->nano < 10952)
    {
      LOG_ERROR << "Your libusb does not support large iso buffer!";
      return;
    }
#endif

    if(managed_usb_context_)
    {
      int r = libusb_init(&usb_context_);
      if(r != 0)
      {
        LOG_ERROR << "failed to create usb context: " << WRITE_LIBUSB_ERROR(r);
        return;
      }

#if defined(_WIN32) || defined (__WIN32__) || defined(__WINDOWS__)
      (void)libusb_set_option(usb_context_, LIBUSB_OPTION_USE_USBDK);
#endif
    }

    usb_event_loop_.start(usb_context_);
    initialized = true;
  }

  ~Freenect2Impl()
  {
    if (!initialized)
      return;