Updated changes pointed out by @christiankerl.

Author: larshg

examples/protonect/src/rgb_packet_stream_parser.cpp

@@ -37,25 +37,24 @@ namespace libfreenect2
 LIBFREENECT2_PACK(struct RawRgbPacket
 {
   uint32_t sequence;
-  uint32_t magicHeader; // is 'BBBB' equal 0x42424242
+  uint32_t magic_header; // is 'BBBB' equal 0x42424242
 
   unsigned char jpeg_buffer[0];
 });
 
-struct RgbPacketFooter {
-    uint32_t magicHeader; // is '9999' equal 0x39393939
+LIBFREENECT2_PACK(struct RgbPacketFooter {
+    uint32_t magic_header; // is '9999' equal 0x39393939
     uint32_t sequence;
     int32_t unknown1; // varies from 0 to 60 with steps of 4
     int32_t unknown2; // seems 0 always
     int32_t unknown3; // seems 0 always
     uint32_t timestamp;
     float exposure; // ? ranges from 0.5 to about 60.0 with powerfull light at camera or totally covered
     float gain; // ? ranges from 1.0 when camera is clear to 1.5 when camera is covered.
-    uint32_t magicFooter; // is 'BBBB' equal 0x42424242
+    uint32_t magic_footer; // is 'BBBB' equal 0x42424242
     uint32_t packet_size;
-    float version; // ? this seems to be consistent 1.0
-    uint8_t unknown4[12]; // seems to be 0 all the time.
-};
+    uint8_t unknown4[16]; // seems to be 0 all the time.
+});
 
 RgbPacketStreamParser::RgbPacketStreamParser() :
     processor_(noopProcessor<RgbPacket>())
@@ -86,24 +85,25 @@ void RgbPacketStreamParser::onDataReceived(unsigned char* buffer, size_t length)
     RgbPacketFooter* footer = reinterpret_cast<RgbPacketFooter *>(&buffer[i]);
 
     // if magic markers match
-    if (length - i >= sizeof(RgbPacketFooter) && footer->magicHeader == 0x39393939 && footer->magicFooter == 0x42424242)
+    if (length - i >= sizeof(RgbPacketFooter) && footer->magic_header == 0x39393939 && footer->magic_footer == 0x42424242)
     {  
       memcpy(&fb.data[fb.length], buffer, length);
       fb.length += length;
 
-      buffer_.swap();
-      Buffer &bb = buffer_.back();
-      RawRgbPacket *raw_packet = reinterpret_cast<RawRgbPacket *>(bb.data);
+      RawRgbPacket *raw_packet = reinterpret_cast<RawRgbPacket *>(fb.data);
 
-      if (bb.length == footer->packet_size && raw_packet->sequence == footer->sequence)
+      if (fb.length == footer->packet_size && raw_packet->sequence == footer->sequence)
       {
         if (processor_->ready())
         {
+		  buffer_.swap();
+		  Buffer &bb = buffer_.back();
+
           RgbPacket rgb_packet;
           rgb_packet.sequence = raw_packet->sequence;
           rgb_packet.timestamp = footer->timestamp;
           rgb_packet.jpeg_buffer = raw_packet->jpeg_buffer;
-          rgb_packet.jpeg_buffer_length = bb.length - sizeof(RawRgbPacket);
+		  rgb_packet.jpeg_buffer_length = bb.length - sizeof(RawRgbPacket);
 
           // call the processor
           processor_->process(rgb_packet);