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feat: expose current k4a_capture via getNativeCapture() #2

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feat: expose current k4a_capture via getNativeCapture() #2

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17 changes: 15 additions & 2 deletions src/tcxAzureKinect.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@ struct AzureKinect::Impl {
k4a_transformation_t transformation = nullptr;
k4a_calibration_t calibration{};
k4a_device_configuration_t config{};
k4a_capture_t capture = nullptr; // most recent frame, held for getNativeCapture()
};

AzureKinect::AzureKinect(uint32_t deviceIndex)
Expand All @@ -38,6 +39,7 @@ AzureKinect::~AzureKinect() = default;
k4a_device_t AzureKinect::getNativeDevice() const { return impl_->device; }
const k4a_calibration_t& AzureKinect::getNativeCalibration() const { return impl_->calibration; }
k4a_transformation_t AzureKinect::getNativeTransformation() const { return impl_->transformation; }
k4a_capture_t AzureKinect::getNativeCapture() const { return impl_->capture; }

// -----------------------------------------------------------------------------
bool AzureKinect::openDevice() {
Expand Down Expand Up @@ -105,6 +107,10 @@ bool AzureKinect::openDevice() {
}

void AzureKinect::closeDevice() {
if (impl_->capture) {
k4a_capture_release(impl_->capture);
impl_->capture = nullptr;
}
if (impl_->transformation) {
k4a_transformation_destroy(impl_->transformation);
impl_->transformation = nullptr;
Expand All @@ -124,9 +130,14 @@ StreamFreshness AzureKinect::captureInto(DepthFrame& dst) {
if (k4a_device_get_capture(impl_->device, &cap, kCaptureTimeoutMs)
!= K4A_WAIT_RESULT_SUCCEEDED) {
if (cap) k4a_capture_release(cap);
return fresh; // timeout / no frame
return fresh; // timeout / no frame; keep the previously held capture
}

// Retain this capture for getNativeCapture() (e.g. k4abt body tracking shares
// the single capture). Release the one held from the previous frame first.
if (impl_->capture) k4a_capture_release(impl_->capture);
impl_->capture = cap;

k4a_image_t depthImg = k4a_capture_get_depth_image(cap);
if (depthImg) {
const int w = k4a_image_get_width_pixels(depthImg);
Expand Down Expand Up @@ -206,7 +217,9 @@ StreamFreshness AzureKinect::captureInto(DepthFrame& dst) {
k4a_image_release(irImg);
}

k4a_capture_release(cap);
// cap is NOT released here — it is retained as impl_->capture and freed on the
// next successful capture or in closeDevice(), so getNativeCapture() can hand
// it to k4abt for the current frame.
return fresh;
}

Expand Down
9 changes: 9 additions & 0 deletions src/tcxAzureKinect.h
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,15 @@ class AzureKinect : public DepthCamera {
const k4a_calibration_t& getNativeCalibration() const;
k4a_transformation_t getNativeTransformation() const;

// The k4a_capture behind the most recent successful frame, retained until the
// next one is grabbed — e.g. to feed k4abt_tracker_enqueue_capture() for body
// tracking, sharing the single capture instead of opening the device twice.
// Null before the first frame / after closeDevice(); the backend owns it, do
// NOT release it. In threaded mode (setThreaded(true)) it is swapped on the
// grab thread, so read it on the thread that drives update() — or run
// non-threaded when handing it to the body tracker.
k4a_capture_t getNativeCapture() const;

protected:
bool openDevice() override;
void closeDevice() override;
Expand Down