// Do not call directly, even in child
void DepthCallback(void *_depth, uint32_t timestamp)
{
Mutex::ScopedLock lock(m_depth_mutex);
uint16_t* depth = static_cast<uint16_t*>(_depth);
copy(depth, depth+getDepthBufferSize()/2, m_buffer_depth.begin());
m_new_depth_frame = true;
}
/*!
* \brief called if usb depth event in Freenect::m_thread.
* \param [out] _depth points buffer where to save usb incoming depth frame.
* \param timestamp internal use to synchronize video & depth frames.
* \see libfreenect.hpp Freenect::Freenect
*/
void Apikinect::DepthCallback(void *_depth, uint32_t timestamp)
{
std::lock_guard<std::mutex> lock(m_depth_mutex);//lock will be destroyed when exit DepthCallback
uint16_t* depth = static_cast<uint16_t*>(_depth);
copy(depth, depth+getDepthBufferSize()/2, m_buffer_depth.begin());
m_new_depth_frame = true;
}
// Do not call directly even in child
void DepthCallback(void* _depth, uint32_t timestamp) {
m_depth_mutex.lock();
uint16_t* depth = static_cast<uint16_t*>(_depth);
// was getVideoBufferSize()
std::copy(depth, depth+getDepthBufferSize(), m_buffer_depth.begin());
m_new_depth_frame = true;
m_depth_mutex.unlock();
}
MyFreenectDevice(freenect_context *_ctx, int _index)
: Freenect::FreenectDevice(_ctx, _index), m_buffer_depth(getDepthBufferSize()),m_buffer_video(getVideoBufferSize()), m_gamma(2048), m_new_rgb_frame(false), m_new_depth_frame(false)
{
for( unsigned int i = 0 ; i < 2048 ; i++) {
float v = i/2048.0;
v = std::pow(v, 3)* 6;
m_gamma[i] = v*6*256;
}
}
uint16_t getDepthBufferSize16()
{
return getDepthBufferSize()/2;
}
