// Do not call directly, even in child
void VideoCallback(void *_rgb, uint32_t timestamp)
{
Mutex::ScopedLock lock(m_rgb_mutex);
uint8_t* rgb = static_cast<uint8_t*>(_rgb);
copy(rgb, rgb+getVideoBufferSize(), m_buffer_video.begin());
m_new_rgb_frame = true;
}
/*!
* \brief called if usb video event in Freenect::m_thread.
* \param [out] _rgb poitns buffer where to save usb incoming video frame.
* \param timestamp internal use to synchronize video & depth frames.
* \see libfreenect.hpp Freenect::Freenect
*/
void Apikinect::VideoCallback(void *_rgb, uint32_t timestamp)
{
std::lock_guard<std::mutex> lock(m_rgb_mutex);//lock will be destroyed when exit VideoCallback
uint8_t* rgb = static_cast<uint8_t*>(_rgb);
copy(rgb, rgb+getVideoBufferSize(), m_buffer_video.begin());
m_new_rgb_frame = true;
}
// Do not call directly even in child
void VideoCallback(void* _rgb, uint32_t timestamp) {
//std::cout << "RGB callback" << std::endl;
m_rgb_mutex.lock();
uint8_t* rgb = static_cast<uint8_t*>(_rgb);
std::copy(rgb, rgb+getVideoBufferSize(), m_buffer_video.begin());
m_new_rgb_frame = true;
m_rgb_mutex.unlock();
};
void LGFreenectDevice::VideoCallback(void* _rgb, uint32_t timestamp)
{
static int frame = 0;
frame++;
//std::cout << "RGB callback (frame " << frame << ")" << std::endl;
m_rgb_mutex.lock();
uint8_t* rgb = static_cast<uint8_t*>(_rgb);
std::copy(rgb, rgb+getVideoBufferSize(), m_buffer_rgb.begin());
cv::Mat3b nMat(rgbMat);
nMat.data = (uchar *) &m_buffer_rgb.front();
nMat.copyTo(rgbMat);
m_new_rgb_frame = true;
m_rgb_mutex.unlock();
//std::cout << "end callback" << std::endl;
}
MyFreenectDevice(freenect_context *_ctx, int _index)
: Freenect::FreenectDevice(_ctx, _index), m_buffer_depth(getDepthBufferSize()),m_buffer_video(getVideoBufferSize()), m_gamma(2048), m_new_rgb_frame(false), m_new_depth_frame(false)
{
for( unsigned int i = 0 ; i < 2048 ; i++) {
float v = i/2048.0;
v = std::pow(v, 3)* 6;
m_gamma[i] = v*6*256;
}
}
