api: Add a function to configure depth processors

Since direct access to depth processors is removed, add
Freenect2Device::setConfiguration() to allow users to
configure depth processors. This design is consistent with
IrCameraParams also being processed in Freenect2Device.

Author: xlz

include/internal/libfreenect2/depth_packet_processor.h

@@ -33,6 +33,7 @@
 #include <stdint.h>
 
 #include <libfreenect2/config.h>
+#include <libfreenect2/libfreenect2.hpp>
 #include <libfreenect2/frame_listener.hpp>
 #include <libfreenect2/packet_processor.h>
 
@@ -54,17 +55,7 @@ typedef PacketProcessor<DepthPacket> BaseDepthPacketProcessor;
 class DepthPacketProcessor : public BaseDepthPacketProcessor
 {
 public:
-  /** Configuration of depth processing. */
-  struct Config
-  {
-    float MinDepth;
-    float MaxDepth;
-
-    bool EnableBilateralFilter; ///< Whether to run the bilateral filter.
-    bool EnableEdgeAwareFilter; ///< Whether to run the edge aware filter.
-
-    Config();
-  };
+  typedef Freenect2Device::Config Config;
 
   /** Parameters of depth processing. */
   struct Parameters

include/libfreenect2/libfreenect2.hpp

@@ -82,6 +82,18 @@ class LIBFREENECT2_API Freenect2Device
     float fx, fy, cx, cy, k1, k2, k3, p1, p2;
   };
 
+  /** Configuration of depth processing. */
+  struct Config
+  {
+    float MinDepth;
+    float MaxDepth;
+
+    bool EnableBilateralFilter; ///< Whether to run the bilateral filter.
+    bool EnableEdgeAwareFilter; ///< Whether to run the edge aware filter.
+
+    Config();
+  };
+
   virtual ~Freenect2Device();
 
   virtual std::string getSerialNumber() = 0;
@@ -91,6 +103,7 @@ class LIBFREENECT2_API Freenect2Device
   virtual Freenect2Device::IrCameraParams getIrCameraParams() = 0;
   virtual void setColorCameraParams(const Freenect2Device::ColorCameraParams &params) = 0;
   virtual void setIrCameraParams(const Freenect2Device::IrCameraParams &params) = 0;
+  virtual void setConfiguration(const Config &config) = 0;
 
   virtual void setColorFrameListener(libfreenect2::FrameListener* rgb_frame_listener) = 0;
   virtual void setIrAndDepthFrameListener(libfreenect2::FrameListener* ir_frame_listener) = 0;

src/depth_packet_processor.cpp

@@ -32,15 +32,6 @@
 namespace libfreenect2
 {
 
-DepthPacketProcessor::Config::Config() :
-  MinDepth(0.5f),
-  MaxDepth(4.5f),
-  EnableBilateralFilter(true),
-  EnableEdgeAwareFilter(true)
-{
-
-}
-
 DepthPacketProcessor::Parameters::Parameters()
 {
   ab_multiplier = 0.6666667f;

src/libfreenect2.cpp

@@ -252,6 +252,7 @@ class Freenect2DeviceImpl : public Freenect2Device
   virtual Freenect2Device::IrCameraParams getIrCameraParams();
   virtual void setColorCameraParams(const Freenect2Device::ColorCameraParams &params);
   virtual void setIrCameraParams(const Freenect2Device::IrCameraParams &params);
+  virtual void setConfiguration(const Freenect2Device::Config &config);
 
   int nextCommandSeq();
 
@@ -606,6 +607,19 @@ void Freenect2DeviceImpl::setIrCameraParams(const Freenect2Device::IrCameraParam
   }
 }
 
+Freenect2Device::Config::Config() :
+  MinDepth(0.5f),
+  MaxDepth(4.5f),
+  EnableBilateralFilter(true),
+  EnableEdgeAwareFilter(true) {}
+
+void Freenect2DeviceImpl::setConfiguration(const Freenect2Device::Config &config)
+{
+  DepthPacketProcessor *proc = pipeline_->getDepthPacketProcessor();
+  if (proc != 0)
+    proc->setConfiguration(config);
+}
+
 void Freenect2DeviceImpl::setColorFrameListener(libfreenect2::FrameListener* rgb_frame_listener)
 {
   // TODO: should only be possible, if not started