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; }