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VRKinectReg/Source/VRKinectReg/Registration/RegistrationThread.cpp

+// Fill out your copyright notice in the Description page of Project Settings.
+
+
+#include "RegistrationThread.h"
+
+#include "HAL/PlatformProcess.h"
+#include "RegistrationManager.h"
+
+
+FRegistrationThread::FRegistrationThread(ARegistrationManager *registrationManager) :
+	thread(nullptr),
+	stopCounter(0),
+	registrationManager(registrationManager)
+{
+	thread = FRunnableThread::Create(this, TEXT("FRegistrationThread"), 0, TPri_AboveNormal);
+}
+
+FRegistrationThread::~FRegistrationThread()
+{
+	if (thread)
+	{
+		delete thread;
+		thread = nullptr;
+	}
+}
+
+
+void FRegistrationThread::Terminate()
+{
+	Stop();
+	if (thread)
+	{
+		thread->WaitForCompletion();
+	}
+}
+
+
+bool FRegistrationThread::Init()
+{
+	UE_LOG(LogTemp, Log, TEXT("Azure Kinect thread started."));
+	return true;
+}
+
+uint32 FRegistrationThread::Run()
+{
+	if (!registrationManager)
+		return 1;
+
+	while (stopCounter.GetValue() == 0)
+	{
+		// Perform registration:
+		registrationManager->RegistrateOnCurrent();
+		// Use at maximum 10 images per second:
+		FPlatformProcess::Sleep(0.1);
+	}
+
+	return 0;
+}
+
+void FRegistrationThread::Stop()
+{
+	stopCounter.Increment();
+}

VRKinectReg/Source/VRKinectReg/Registration/RegistrationThread.h

+// Fill out your copyright notice in the Description page of Project Settings.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "HAL/Runnable.h"
+#include "HAL/RunnableThread.h"
+
+class ARegistrationManager;
+
+class VRKINECTREG_API FRegistrationThread : public FRunnable
+{
+	
+	
+public:
+	FRegistrationThread(ARegistrationManager* registrationManager);
+	~FRegistrationThread();
+
+	void Terminate();
+
+	virtual bool Init() override;
+	virtual uint32 Run() override;
+	virtual void Stop() override;
+
+private:
+	FRunnableThread* thread;
+	FThreadSafeCounter stopCounter;
+	ARegistrationManager* registrationManager;
+};
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