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K4w wip #1

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9 changes: 6 additions & 3 deletions wrappers/cpp/libfreenect.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -95,6 +95,9 @@ namespace Freenect {
void updateState() {
if (freenect_update_tilt_state(m_dev) < 0) throw std::runtime_error("Cannot update device state");
}
void setRangeMode(freenect_range_mode range) {
freenect_set_range_mode(m_dev, range);
}
FreenectTiltState getState() const {
return FreenectTiltState(freenect_get_tilt_state(m_dev));
}
Expand Down Expand Up @@ -174,11 +177,11 @@ namespace Freenect {
private:
typedef std::map<int, FreenectDevice*> DeviceMap;
public:
Freenect() : m_stop(false) {
Freenect(const int device_flags=FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA) : m_stop(false) {
if(freenect_init(&m_ctx, NULL) < 0) throw std::runtime_error("Cannot initialize freenect library");
// We claim both the motor and camera devices, since this class exposes both.
// It does not support audio, so we do not claim it.
freenect_select_subdevices(m_ctx, static_cast<freenect_device_flags>(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
freenect_select_subdevices(m_ctx, static_cast<freenect_device_flags>(device_flags));
if(pthread_create(&m_thread, NULL, pthread_callback, (void*)this) != 0) throw std::runtime_error("Cannot initialize freenect thread");
}
~Freenect() {
Expand All @@ -194,7 +197,7 @@ namespace Freenect {
DeviceMap::iterator it = m_devices.find(_index);
if (it != m_devices.end()) delete it->second;
ConcreteDevice * device = new ConcreteDevice(m_ctx, _index);
m_devices.insert(std::make_pair<int, FreenectDevice*>(_index, device));
m_devices.insert(std::make_pair(_index, device));
return *device;
}
void deleteDevice(int _index) {
Expand Down