//export depthCallback
func depthCallback(dev unsafe.Pointer, frame unsafe.Pointer, timestamp C.uint32_t) {
device := (*Device)(C.freenect_get_user((*C.freenect_device)(dev)))
if device == nil || device.depth == nil {
panic("No depth camera found")
}
camera := device.depth
if frame != unsafe.Pointer(&camera.current[0]) {
panic("Unexpected depth frame buffer pointer")
}
camera.sink(camera.current, int32(timestamp))
// source can return nil to reuse same buffer
buffer := camera.source(camera.bytes)
if buffer != nil {
rc := int(C.freenect_set_depth_buffer(camera.device.dev, unsafe.Pointer(&buffer[0])))
if rc != 0 {
fmt.Printf("Failed to set depth buffer: %d\n", rc)
panic("Failed to set depth buffer")
}
camera.current = buffer
}
}
// Starts the acquisition of the depth stream. The source function will be invoked to obtain the first frame buffer.
func (camera *DepthCamera) Start() int {
if camera.on == true {
return 1
}
buffer := camera.source(camera.bytes)
rc := int(C.freenect_set_depth_buffer(camera.device.dev, unsafe.Pointer(&buffer[0])))
if rc != 0 {
fmt.Printf("Failed to set depth buffer: %d\n", rc)
return rc
}
camera.current = buffer
rc = int(C.freenect_start_depth(camera.device.dev))
if rc != 0 {
fmt.Printf("Failed to start depth stream: %d\n", rc)
return rc
}
fmt.Printf("Depth stream started\n")
camera.on = true
return 0
}
//FREENECTAPI int freenect_set_depth_buffer(freenect_device *dev, void *buf);
func (dev *Device) SetDepthBuffer(buf unsafe.Pointer) int {
return int(C.freenect_set_depth_buffer(dev.ptr(), buf))
}