Merge pull request #554 from brendandburns/master

dump: Add accessors for the various depth tables.

Author: xlz

include/libfreenect2/packet_pipeline.h

@@ -31,6 +31,8 @@
 
 #include <libfreenect2/config.h>
 
+#include <stdlib.h>
+
 namespace libfreenect2
 {
 
@@ -71,6 +73,13 @@ class LIBFREENECT2_API PacketPipeline
  public:
    DumpPacketPipeline();
    virtual ~DumpPacketPipeline();
+
+   // These are all required to decode depth data
+   const unsigned char* getDepthP0Tables(size_t* length);
+
+   const float* getDepthXTable(size_t* length);
+   const float* getDepthZTable(size_t* length);
+   const short* getDepthLookupTable(size_t* length);
  };
 
 /** Pipeline with CPU depth processing. */

src/packet_pipeline.cpp

@@ -31,6 +31,7 @@
 #include <libfreenect2/data_callback.h>
 #include <libfreenect2/rgb_packet_stream_parser.h>
 #include <libfreenect2/depth_packet_stream_parser.h>
+#include <libfreenect2/protocol/response.h>
 
 namespace libfreenect2
 {
@@ -138,4 +139,24 @@ DumpPacketPipeline::DumpPacketPipeline()
 
 DumpPacketPipeline::~DumpPacketPipeline() {}
 
+const unsigned char* DumpPacketPipeline::getDepthP0Tables(size_t* length) {
+  *length = sizeof(libfreenect2::protocol::P0TablesResponse);
+  return static_cast<DumpDepthPacketProcessor*>(getDepthPacketProcessor())->getP0Tables();
+}
+
+const float* DumpPacketPipeline::getDepthXTable(size_t* length) {
+  *length = DepthPacketProcessor::TABLE_SIZE;
+  return static_cast<DumpDepthPacketProcessor*>(getDepthPacketProcessor())->getXTable();
+}
+
+const float* DumpPacketPipeline::getDepthZTable(size_t* length) {
+  *length = DepthPacketProcessor::TABLE_SIZE;
+  return static_cast<DumpDepthPacketProcessor*>(getDepthPacketProcessor())->getZTable();
+}
+
+const short* DumpPacketPipeline::getDepthLookupTable(size_t* length) {
+  *length = DepthPacketProcessor::LUT_SIZE;
+  return static_cast<DumpDepthPacketProcessor*>(getDepthPacketProcessor())->getLookupTable();
+}
+
 } /* namespace libfreenect2 */