private void startCaptureOfVideoFrame() { if (alreadyClosing) return; synchronized (syncObject) { captureFrame = true; if (cameraStreamer != null) { timeStamp = cameraStreamer.getTimeStamp(); position = cameraStreamer.getCameraPosition(); orientation = cameraStreamer.getCameraOrientation(); fov = cameraStreamer.getFieldOfView(); } else { timeStamp = rgbdStreamer.getTimeStamp(); position = rgbdStreamer.getCameraPosition(); orientation = rgbdStreamer.getCameraOrientation(); fov = rgbdStreamer.getFieldOfView(); } } } }
if (!rgbdStreamer.isReadyForNewData()) convertRGBD((float)rgbdStreamer.getNearClip(), (float)rgbdStreamer.getFarClip()); rgbdStreamer.updateRBGD(depthImage, timeStamp, position, orientation, fov);