void OpenNIDevice::DepthDataThreadFunction () throw (OpenNIException)
{
while (running_)
{
// lock before checking running flag
unique_lock<mutex> depth_lock (depth_mutex_);
if (!running_)
return;
depth_condition_.wait (depth_lock);
if (!running_)
return;
depth_generator_.WaitAndUpdateData ();
xn::DepthMetaData depth_data;
depth_generator_.GetMetaData (depth_data);
depth_lock.unlock ();
DepthImage depth_image (depth_data, baseline_, getDepthFocalLength (), shadow_value_, no_sample_value_);
for (map< OpenNIDevice::CallbackHandle, ActualDepthImageCallbackFunction >::iterator callbackIt = depth_callback_.begin ();
callbackIt != depth_callback_.end (); ++callbackIt)
{
callbackIt->second.operator()(depth_image);
}
}
}
/**
* Reallocate the video buffer if the video format or resolution changes
*/
void allocateBufferVideo(
ImageBuffer& buffer,
const freenect_video_format& format,
const freenect_resolution& resolution,
const freenect_registration& registration) {
// Obtain a lock on the buffer. This is mostly for debugging, as allocate
// buffer should only be called when the buffer is not being used by the
// freenect thread
boost::lock_guard<boost::mutex> buffer_lock(buffer.mutex);
// Deallocate the buffer incase an exception happens (the buffer should no
// longer be valid)
buffer.image_buffer.reset();
switch (format) {
case FREENECT_VIDEO_RGB:
case FREENECT_VIDEO_BAYER:
case FREENECT_VIDEO_YUV_RGB:
case FREENECT_VIDEO_IR_8BIT:
case FREENECT_VIDEO_IR_10BIT:
case FREENECT_VIDEO_IR_10BIT_PACKED:
switch (resolution) {
case FREENECT_RESOLUTION_HIGH:
case FREENECT_RESOLUTION_MEDIUM:
buffer.metadata =
freenect_find_video_mode(resolution, format);
if (!buffer.metadata.is_valid) {
throw std::runtime_error("libfreenect: Invalid video fmt, res: " +
boost::lexical_cast<std::string>(format) + "," +
boost::lexical_cast<std::string>(resolution));
}
break;
default:
throw std::runtime_error("libfreenect: Invalid video resolution: " +
boost::lexical_cast<std::string>(resolution));
}
break;
default:
throw std::runtime_error("libfreenect: Invalid video format: " +
boost::lexical_cast<std::string>(format));
}
// All is good, reallocate the buffer and calculate other pieces of info
buffer.image_buffer.reset(new unsigned char[buffer.metadata.bytes]);
switch(format) {
case FREENECT_VIDEO_RGB:
case FREENECT_VIDEO_BAYER:
case FREENECT_VIDEO_YUV_RGB:
buffer.focal_length = getRGBFocalLength(buffer.metadata.width);
break;
case FREENECT_VIDEO_IR_8BIT:
case FREENECT_VIDEO_IR_10BIT:
case FREENECT_VIDEO_IR_10BIT_PACKED:
buffer.focal_length = getDepthFocalLength(registration,
buffer.metadata.width);
break;
default:
throw std::runtime_error("libfreenect: shouldn't reach here");
}
buffer.is_registered = false;
}