func (d *FreenectDevice) RawDepthFrame(format VideoFormat) (unsafe.Pointer, uint32) {
var data unsafe.Pointer
var timestamp C.uint32_t
out := C.freenect_sync_get_depth(&data, ×tamp, d.DeviceIndexCType, C.freenect_depth_format(format))
if out > 0 {
return nil, 0
}
return data, uint32(timestamp)
}
// This function creates a new structure representing a fixed format and resolution depth stream.
// Note the parameters will be validated and the corresponding depth mode will be set, but the stream
// will not be started.
// BUG(g): The depth mode is set here instead of on Start() which means we can't reset the camera...
func (device *Device) DepthCamera(res Resolution, fmt DepthFormat, source DepthSource, sink DepthSink) (*DepthCamera, int) {
mode := C.freenect_find_depth_mode(C.freenect_resolution(res), C.freenect_depth_format(fmt))
if mode.is_valid == 0 {
return nil, -999
}
rc := int(C.freenect_set_depth_mode(device.dev, mode))
if rc != 0 {
return nil, rc
}
C.registerDepthCallback(device.dev)
device.depth = &DepthCamera{device, false, int(mode.bytes), source, sink, nil}
return device.depth, 0
}
// StartDepthStream begins the retrieval of depth information from the device.
func (device *Device) StartDepthStream(resolution Resolution, format DepthFormat) error {
errCode := C.freenect_set_depth_mode(device.device,
C.freenect_find_depth_mode(C.freenect_resolution(resolution), C.freenect_depth_format(format)))
if errCode != 0 {
return errors.New("could not find depth mode")
}
errCode = C.freenect_start_depth(device.device)
if errCode != 0 {
return errors.New("could not start depth stream")
}
return nil
}
//FREENECTAPI freenect_frame_mode freenect_find_depth_mode(freenect_resolution res, freenect_depth_format fmt);
func FindDepthMode(res Resolution, format DepthFormat) FrameMode {
fm := C.freenect_find_depth_mode(C.freenect_resolution(res), C.freenect_depth_format(format))
return *(*FrameMode)(unsafe.Pointer(&fm))
}