Use new libfreenect2 API

[xlz]

libfreenect2 has changed API and it breaks iai_kinect2 in the current state.

libfreenect2 API no longer exports details about DepthPacketProcessor. Use Freenect2Device::setConfiguration() instead.

Reason of the API breakage: In the process of avoiding exposing implementation details of various depth processors and making it hard to maintain future API stability, DepthProcessor is entirely hidden from API/ABI. I provided a compatibility workaround to allow the then current iai_kinect2 to work, but the workaround broke MSVC compilation and was reverted.

Use the new libfreenect2 API here.

[JimmyDaSilva]

+1
Thanks @xlz this works

[JimmyDaSilva]

@xlz Sorry. Actually it compiles yes, but kinect2_bridge fails on start up now.

[FATAL] [1449233655.354852103]: Service call failed!
[kinect2-2] process has died [pid 27612, exit code -11, cmd /opt/ros/indigo/lib/nodelet/nodelet manager __name:=kinect2 __log:=/home/kuka/.ros/log/1b1b0652-9a86-11e5-b670-989096ba320d/kinect2-2.log].
log file: /home/kuka/.ros/log/1b1b0652-9a86-11e5-b670-989096ba320d/kinect2-2*.log
[kinect2_bridge-3] process has died [pid 27617, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 __name:=kinect2_bridge __log:=/home/kuka/.ros/log/1b1b0652-9a86-11e5-b670-989096ba320d/kinect2_bridge-3.log].
log file: /home/kuka/.ros/log/1b1b0652-9a86-11e5-b670-989096ba320d/kinect2_bridge-3*.log

If I go back to a previous state of libfreenect2 (21 nov), then both branches master and use-new-api work
And in that state of libfreenect2, or the most recent one, Protonect works perfectly with cpu, cl, gl

[kohrt]

Thanks for the pull request, I will try it out next week and also check out the newest libfreenect2 then.

[xlz]

OK, the first try was not correct. It was setting configuration in initPipeline() which is before device initialization. setConfiguration() cannot be called without initializing device first with the current libfreenect2 API.

This commit should be tested and good now.

[JimmyDaSilva]

Great @xlz ! Seems to work like a charm :) 👍

[dkoguciuk]

Works for me too :)

[kohrt]

Merged! Thanks a lot for the Pull-Request and the testing.