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Libfreenect2 v0.2 api cleanup #244

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Merged
kohrt merged 3 commits into from
Mar 10, 2016
Merged

Libfreenect2 v0.2 api cleanup #244

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efe2936
fix for a problem of Beignet with enqueueReadBuffer and an event vect…
Feb 29, 2016
e3fa8e3
prepared kinect2_bridge for libfreenect2 v0.2 API changes.
Mar 3, 2016
4fd92e7
fixed status check.
Mar 10, 2016
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fixed status check. 
added lock for color frame for sd registration.
  • Loading branch information
Thiemo Wiedemeyer committed Mar 10, 2016
commit 4fd92e72bf866b3885f28dc32a82cb69032d13a4
12 changes: 8 additions & 4 deletions kinect2_bridge/src/kinect2_bridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,7 @@ class Kinect2Bridge
std::vector<std::thread> threads;
std::mutex lockIrDepth, lockColor;
std::mutex lockSync, lockPub, lockTime, lockStatus;
std::mutex lockRegLowRes, lockRegHighRes;
std::mutex lockRegLowRes, lockRegHighRes, lockRegSD;

bool publishTF;
std::thread tfPublisher, mainThread;
Expand Down Expand Up @@ -943,7 +943,7 @@ class Kinect2Bridge
libfreenect2::Frame *depthFrame = frames[libfreenect2::Frame::Depth];

#if LIBFREENECT2_API_VERSION >= 2
if(irFrame->status == 1 || depthFrame->status == 1)
if(irFrame->status != 0 || depthFrame->status != 0)
{
listenerIrDepth->release(frames);
lockIrDepth.unlock();
Expand Down Expand Up @@ -1007,7 +1007,7 @@ class Kinect2Bridge
libfreenect2::Frame *colorFrame = frames[libfreenect2::Frame::Color];

#if LIBFREENECT2_API_VERSION >= 2
if(colorFrame->status == 1)
if(colorFrame->status != 0)
{
listenerColor->release(frames);
lockIrDepth.unlock();
Expand All @@ -1030,8 +1030,10 @@ class Kinect2Bridge
cv::Mat color = cv::Mat(colorFrame->height, colorFrame->width, CV_8UC4, colorFrame->data);
if(status[COLOR_SD_RECT])
{
memcpy(this->color.data, color.data, sizeColor.width * sizeColor.height * 4);
lockRegSD.lock();
memcpy(this->color.data, colorFrame->data, sizeColor.width * sizeColor.height * 4);
this->color.format = colorFrame->format;
lockRegSD.unlock();
}
if(status[COLOR_HD] || status[COLOR_HD_RECT] || status[COLOR_QHD] || status[COLOR_QHD_RECT] ||
status[MONO_HD] || status[MONO_HD_RECT] || status[MONO_QHD] || status[MONO_QHD_RECT])
Expand Down Expand Up @@ -1118,7 +1120,9 @@ class Kinect2Bridge
libfreenect2::Frame depthFrame(sizeIr.width, sizeIr.height, 4, depth.data);
libfreenect2::Frame undistorted(sizeIr.width, sizeIr.height, 4);
libfreenect2::Frame registered(sizeIr.width, sizeIr.height, 4);
lockRegSD.lock();
registration->apply(&color, &depthFrame, &undistorted, &registered);
lockRegSD.unlock();
cv::flip(cv::Mat(sizeIr, CV_8UC4, registered.data), tmp, 1);
#if LIBFREENECT2_API_VERSION >= 2
if(color.format == libfreenect2::Frame::BGRX)
Expand Down