ProtonectSR: Sync ProtonectSR.cpp with Protonect.cpp.

Author: smokhov

tools/streamer_recorder/ProtonectSR.cpp

@@ -117,7 +117,7 @@ int main(int argc, char *argv[])
   std::string program_path(argv[0]);
   std::cerr << "Version: " << LIBFREENECT2_VERSION << std::endl;
   std::cerr << "Environment variables: LOGFILE=<protonect.log>" << std::endl;
-  std::cerr << "Usage: " << program_path << " [-gpu=<id>] [gl | cl | cuda | cpu] [<device serial>]" << std::endl;
+  std::cerr << "Usage: " << program_path << " [-gpu=<id>] [gl | cl | clkde | cuda | cudakde | cpu] [<device serial>]" << std::endl;
   std::cerr << "        [-noviewer] [-norgb | -nodepth] [-help] [-version]" << std::endl;
   std::cerr << "        [-frames <number of frames to process>]" << std::endl;
   std::cerr << "To pause and unpause: pkill -USR1 Protonect" << std::endl;
@@ -204,6 +204,15 @@ int main(int argc, char *argv[])
         pipeline = new libfreenect2::OpenCLPacketPipeline(deviceId);
 #else
       std::cout << "OpenCL pipeline is not supported!" << std::endl;
+#endif
+    }
+    else if(arg == "clkde")
+    {
+#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
+      if(!pipeline)
+        pipeline = new libfreenect2::OpenCLKdePacketPipeline(deviceId);
+#else
+      std::cout << "OpenCL pipeline is not supported!" << std::endl;
 #endif
     }
     else if(arg == "cuda")
@@ -213,6 +222,15 @@ int main(int argc, char *argv[])
         pipeline = new libfreenect2::CudaPacketPipeline(deviceId);
 #else
       std::cout << "CUDA pipeline is not supported!" << std::endl;
+#endif
+    }
+    else if(arg == "cudakde")
+    {
+#ifdef LIBFREENECT2_WITH_CUDA_SUPPORT
+      if(!pipeline)
+        pipeline = new libfreenect2::CudaKdePacketPipeline(deviceId);
+#else
+      std::cout << "CUDA pipeline is not supported!" << std::endl;
 #endif
     }
     else if(arg.find_first_not_of("0123456789") == std::string::npos) //check if parameter could be a serial number
@@ -357,7 +375,11 @@ if (recorder_enabled)
 /// [loop start]
   while(!protonect_shutdown && (framemax == (size_t)-1 || framecount < framemax))
   {
-    listener.waitForNewFrame(frames);
+    if (!listener.waitForNewFrame(frames, 10*1000)) // 10 sconds
+    {
+      std::cout << "timeout!" << std::endl;
+      return -1;
+    }
     libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];
     libfreenect2::Frame *ir = frames[libfreenect2::Frame::Ir];
     libfreenect2::Frame *depth = frames[libfreenect2::Frame::Depth];