void KinectInterfacePrimesense::init(const char* device_uri) {
initOpenNI(device_uri);
// Create a thread pool for parallelizing the UVD to depth calculations
uint32_t num_threads = KINECT_INTERFACE_NUM_WORKER_THREADS;
tp_ = new jtil::threading::ThreadPool(num_threads);
if (KINECT_INTERFACE_NUM_CONVERTER_THREADS > 1) {
uint32_t n_pixels = depth_dim_[0] * depth_dim_[1];
uint32_t n_pixels_per_thread = 1 + n_pixels / num_threads; // round up
for (uint32_t i = 0; i < num_threads; i++) {
uint32_t start = i * n_pixels_per_thread;
uint32_t end = std::min<uint32_t>(((i + 1) * n_pixels_per_thread) - 1,
n_pixels - 1);
pts_world_thread_cbs_.pushBack(MakeCallableMany(
&KinectInterfacePrimesense::convertDepthToWorld, this, start, end));
rgb_thread_cbs_.pushBack(MakeCallableMany(
&KinectInterfacePrimesense::convertRGBToDepth, this, start, end));
}
}
if (device_uri) {
cout << "Finished initializing device " << device_uri << "..." << endl;
} else {
cout << "Finished initializing openNI device..." << endl;
}
}
OpenNIDevice::OpenNIDevice(const QString devicePath)
: m_devicePath(devicePath)
, m_opened(false)
, m_manual_registration(false)
{
// Init OpenNI
_mutex_counter.lock();
_instance_counter++;
if (!_initialised) {
initOpenNI();
}
_mutex_counter.unlock();
// Videostreams
m_depthStreams = new openni::VideoStream*[1];
m_depthStreams[0] = &m_oniDepthStream;
m_colorStreams = new openni::VideoStream*[1];
m_colorStreams[0] = &m_oniColorStream;
}
