static void *init(void *unused)
{
pending_runloop_tasks_wait_zero();
pthread_mutex_lock(&runloop_lock);
while (thread_running && freenect_process_events(ctx) >= 0) {
pthread_mutex_unlock(&runloop_lock);
// NOTE: This lets you run tasks while process_events isn't running
pending_runloop_tasks_wait_zero();
pthread_mutex_lock(&runloop_lock);
}
// Go through each device, call stop video, close device
int i;
for (i = 0; i < MAX_KINECTS; ++i) {
if (kinects[i]) {
freenect_stop_video(kinects[i]->dev);
freenect_stop_depth(kinects[i]->dev);
freenect_set_user(kinects[i]->dev, NULL);
freenect_close_device(kinects[i]->dev);
free_buffer_ring(&kinects[i]->video);
free_buffer_ring(&kinects[i]->depth);
free(kinects[i]);
kinects[i] = NULL;
}
}
freenect_shutdown(ctx);
pthread_mutex_unlock(&runloop_lock);
return NULL;
}
static int change_depth_format(sync_kinect_t *kinect, freenect_depth_format fmt)
{
freenect_stop_depth(kinect->dev);
free_buffer_ring(&kinect->depth);
if (alloc_buffer_ring_depth(fmt, &kinect->depth))
return -1;
freenect_set_depth_format(kinect->dev, fmt);
freenect_set_depth_buffer(kinect->dev, kinect->depth.bufs[2]);
freenect_start_depth(kinect->dev);
return 0;
}
static int change_video_format(sync_kinect_t *kinect, freenect_video_format fmt)
{
freenect_stop_video(kinect->dev);
free_buffer_ring(&kinect->video);
if (alloc_buffer_ring_video(fmt, &kinect->video))
return -1;
freenect_set_video_format(kinect->dev, fmt);
freenect_set_video_buffer(kinect->dev, kinect->video.bufs[2]);
freenect_start_video(kinect->dev);
return 0;
}
static int change_depth_format(sync_kinect_t *kinect, freenect_depth_format fmt)
{
freenect_stop_depth(kinect->dev);
free_buffer_ring(&kinect->depth);
if (alloc_buffer_ring_depth(fmt, &kinect->depth))
return -1;
freenect_set_depth_mode(kinect->dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, fmt));
freenect_set_depth_buffer(kinect->dev, kinect->depth.bufs[2]);
freenect_start_depth(kinect->dev);
return 0;
}
static int change_video_format(sync_kinect_t *kinect, freenect_video_format fmt)
{
freenect_stop_video(kinect->dev);
free_buffer_ring(&kinect->video);
if (alloc_buffer_ring_video(fmt, &kinect->video))
return -1;
freenect_set_video_mode(kinect->dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, fmt));
freenect_set_video_buffer(kinect->dev, kinect->video.bufs[2]);
freenect_start_video(kinect->dev);
return 0;
}
