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Use new libfreenect2 API #189

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Merged
merged 1 commit into from
Dec 9, 2015
Merged

Use new libfreenect2 API #189

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16 changes: 11 additions & 5 deletions kinect2_bridge/src/kinect2_bridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -276,7 +276,7 @@ class Kinect2Bridge

initCompression(jpeg_quality, png_level, use_png);

if(!initPipeline(depth_method, depth_dev, bilateral_filter, edge_aware_filter, minDepth, maxDepth))
if(!initPipeline(depth_method, depth_dev))
{
return false;
}
Expand All @@ -286,6 +286,8 @@ class Kinect2Bridge
return false;
}

initConfig(bilateral_filter, edge_aware_filter, minDepth, maxDepth);

initCalibration(calib_path, sensor);

if(!initRegistration(reg_method, reg_dev, maxDepth))
Expand Down Expand Up @@ -350,7 +352,7 @@ class Kinect2Bridge
return true;
}

bool initPipeline(const std::string &method, const int32_t device, const bool bilateral_filter, const bool edge_aware_filter, const double minDepth, const double maxDepth)
bool initPipeline(const std::string &method, const int32_t device)
{
if(method == "default")
{
Expand Down Expand Up @@ -390,13 +392,17 @@ class Kinect2Bridge
return false;
}

libfreenect2::DepthPacketProcessor::Config config;
return true;
}

void initConfig(const bool bilateral_filter, const bool edge_aware_filter, const double minDepth, const double maxDepth)
{
libfreenect2::Freenect2Device::Config config;
config.EnableBilateralFilter = bilateral_filter;
config.EnableEdgeAwareFilter = edge_aware_filter;
config.MinDepth = minDepth;
config.MaxDepth = maxDepth;
packetPipeline->getDepthPacketProcessor()->setConfiguration(config);
return true;
device->setConfiguration(config);
}

void initCompression(const int32_t jpegQuality, const int32_t pngLevel, const bool use_png)
Expand Down