int getNumDevices()
{
if(!has_device_enumeration_)
{
enumerateDevices();
}
return enumerated_devices_.size();
}
void enumerateDevices()
{
std::cout << "[Freenect2Impl] enumerating devices..." << std::endl;
libusb_device **device_list;
int num_devices = libusb_get_device_list(usb_context_, &device_list);
std::cout << "[Freenect2Impl] " << num_devices << " usb devices connected" << std::endl;
if(num_devices > 0)
{
for(int idx = 0; idx < num_devices; ++idx)
{
libusb_device *dev = device_list[idx];
libusb_device_descriptor dev_desc;
int r = libusb_get_device_descriptor(dev, &dev_desc); // this is always successful
if(dev_desc.idVendor == Freenect2Device::VendorId && (dev_desc.idProduct == Freenect2Device::ProductId || dev_desc.idProduct == Freenect2Device::ProductIdPreview))
{
Freenect2DeviceImpl *freenect2_dev;
// prevent error if device is already open
if(tryGetDevice(dev, &freenect2_dev))
{
UsbDeviceWithSerial dev_with_serial;
dev_with_serial.dev = dev;
dev_with_serial.serial = freenect2_dev->getSerialNumber();
enumerated_devices_.push_back(dev_with_serial);
continue;
}
else
{
libusb_device_handle *dev_handle;
r = libusb_open(dev, &dev_handle);
if(r == LIBUSB_SUCCESS)
{
unsigned char buffer[1024];
r = libusb_get_string_descriptor_ascii(dev_handle, dev_desc.iSerialNumber, buffer, sizeof(buffer));
if(r > LIBUSB_SUCCESS)
{
UsbDeviceWithSerial dev_with_serial;
dev_with_serial.dev = dev;
dev_with_serial.serial = std::string(reinterpret_cast<char *>(buffer), size_t(r));
std::cout << "[Freenect2Impl] found valid Kinect v2 " << PrintBusAndDevice(dev) << " with serial " << dev_with_serial.serial << std::endl;
// valid Kinect v2
enumerated_devices_.push_back(dev_with_serial);
continue;
}
else
{
std::cout << "[Freenect2Impl] failed to get serial number of Kinect v2 " << PrintBusAndDevice(dev) << "!" << std::endl;
}
libusb_close(dev_handle);
}
else
{
std::cout << "[Freenect2Impl] failed to open Kinect v2 " << PrintBusAndDevice(dev) << "!" << std::endl;
}
}
}
libusb_unref_device(dev);
}
}
libusb_free_device_list(device_list, 0);
has_device_enumeration_ = true;
std::cout << "[Freenect2Impl] found " << enumerated_devices_.size() << " devices" << std::endl;
}