Class DeviceImpl

src/openni2/DeviceDriver.cpp:49–378

  typedef std::map<std::string, std::string> ConfigStrings;

  class DeviceImpl : public Device
  {
  private:
    libfreenect2::Freenect2Device *dev;
    ColorStream* color;
    DepthStream* depth;
    IrStream* ir;
    Registration *reg;
    ConfigStrings config;
    bool device_stop;
    bool device_used;
    libfreenect2::SyncMultiFrameListener listener;
    libfreenect2::thread* thread;

    static void static_run(void* cookie)
    {
      static_cast<DeviceImpl*>(cookie)->run();
    }

    VideoStream* getStream(libfreenect2::Frame::Type type)
    {
      if (type == libfreenect2::Frame::Depth)
        return depth;
      if (type == libfreenect2::Frame::Ir)
        return ir;
      if (type == libfreenect2::Frame::Color)
        return color;
      return NULL;
    }

    void run()
    {
      libfreenect2::FrameMap frames;
      uint32_t seqNum = 0;
      libfreenect2::Frame::Type seqType;

      struct streams {
        const char* name;
        libfreenect2::Frame::Type type;
      } streams[] = {
          { "Ir",    libfreenect2::Frame::Ir    },
          { "Depth", libfreenect2::Frame::Depth },
          { "Color", libfreenect2::Frame::Color }
      };
      while(!device_stop)
      {
        listener.waitForNewFrame(frames);

        for (unsigned i = 0; i < sizeof(streams)/sizeof(*streams); i++) {
          struct streams& s = streams[i];
          VideoStream* stream = getStream(s.type);
          libfreenect2::Frame *frame = frames[s.type];
          if (stream) {
            if (seqNum == 0)
              seqType = s.type;
            if (s.type == seqType)
              seqNum++;
            frame->timestamp = seqNum * 33369;