bool OpenNI2CameraImpl::pollOne( OpenNI2Camera::FrameView& frame, int timeoutMS )
{
frame.colorUpdated = false;
frame.depthUpdated = false;
frame.infraredUpdated = false;
VideoStream* streams[] =
{
&m_colorStream,
&m_depthStream,
&m_infraredStream
};
int readyIndex = -1; // Initialized to fail.
Status rc =
OpenNI::waitForAnyStream( streams, 3, &readyIndex, timeoutMS );
if( rc == STATUS_OK )
{
if( readyIndex == 0 ) // color
{
return copyColor( frame );
}
else if( readyIndex == 1 ) // depth
{
return copyDepth( frame );
}
else if( readyIndex == 2 ) // infrared
{
return copyInfrared( frame );
}
}
return false;
}
bool OpenNI2CameraImpl::pollDepth( OpenNI2Camera::FrameView& frame, int timeoutMS )
{
if( !m_depthStream.isValid() )
{
return false;
}
VideoStream* streams[] = { &m_depthStream };
int readyIndex = -1; // Initialized to fail.
Status rc =
OpenNI::waitForAnyStream( streams, 1, &readyIndex, timeoutMS );
if( rc == STATUS_OK && readyIndex == 0 )
{
return copyDepth( frame );
}
return false;
}
bool OpenNICamera::nextFrame( size_t /*timeout*/ )
{
XnStatus status = XN_STATUS_OK;
status = _imageGen.WaitAndUpdateData();
//status = _context.WaitAndUpdateAll();
if( status != XN_STATUS_OK ){
throw CVTException( "Error in WaitAndUpdateData for img" );
} else {
copyImage();
}
status = _depthGen.WaitAndUpdateData();
if( status != XN_STATUS_OK ){
throw CVTException( "Error in WaitAndUpdateData for depth" );
} else {
copyDepth();
}
return true;
}
