Improved performance by using FrameArrived events to avoid busy waiting

[HenningJ]

Without this patch, the Kinect2 driver basically does busy waiting for new frames on three threads simultaneously, always taking all available CPU cycles.
With this patch, the three threads sleep until the Kinect SDK sends a FrameArrived event for the corresponding FrameReader, using up way less CPU cycles.

[HenningJ]

I added another commit, with some speed improvements for the registration. It just avoids doing registration calculations on pixels with invalid depth. Those pixels are returned as (infinite, infinite) values from the coordinate mapper, and doing calculations on those seems to be quite slow

@mvm9289 interested? :-)

[mvm9289]

Hi @HenningJ, thanks for sharing your patch with the community :)! This change looks good to me! I'll merge it back into my own repo.

[HenningJ]

Some more stuff...mostly implemented mirroring (by just copying each line backwards instead of forwards) + some minor improvements.

90a41cc is because waiting 500 milliseconds before asking if the device is ready sometimes wasn't necessary, but sometimes wasn't enough. So rather than just increasing the 500 to 1000, I just ask every 100 ms, up to 1000 ms, and stopping as soon as the device is ready.

[mvm9289]

Yeah! That was one of the entries of my TODO list :)) Thanks for fixing it!!

Miguel.

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On Fri, Jul 3, 2015 at 3:46 PM, Henning Jungkurth [email protected]
wrote:

Some more stuff...mostly implemented mirroring (by just copying each line
backwards instead of forwards) + some minor improvements.

90a41cc
90a41cc
is because waiting 500 milliseconds before asking if the device is ready
sometimes wasn't necessary, but sometimes wasn't enough. So rather than
just increasing the 500 to 1000, I just ask every 100 ms, up to 1000 ms,
and stopping as soon as the device is ready.

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