//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
}
}
//FREENECTAPI void *freenect_get_user(freenect_device *dev);
func (dev *Device) GetUser() unsafe.Pointer {
return C.freenect_get_user(dev.ptr())
}