//--------------------------------------------------------------------
bool ofxKinect::open() {
if(!bGrabberInited) {
ofLog(OF_LOG_WARNING, "ofxKinect: Cannot open, init not called");
return false;
}
if (freenect_init(&kinectContext, NULL) < 0) {
ofLog(OF_LOG_ERROR, "ofxKinect: freenet_init failed");
return false;
}
int number_devices = freenect_num_devices(kinectContext);
ofLog(OF_LOG_VERBOSE, "ofxKinect: Number of Devices found: " + ofToString(number_devices));
if (number_devices < 1) {
ofLog(OF_LOG_ERROR, "ofxKinect: Did not find a device");
return false;
}
if (freenect_open_device(kinectContext, &kinectDevice, 0) < 0) {
ofLog(OF_LOG_ERROR, "ofxKinect: Could not open device");
return false;
}
freenect_set_user(kinectDevice, this);
startThread(true, false); // blocking, not verbose
return true;
}
//--------------------------------------------------------------------
bool ofxKinect::open(){
if(!bGrabberInited){
ofLog(OF_LOG_WARNING, "ofxKinect: Cannot open, init not called");
return false;
}
int number_devices = freenect_num_devices(kinectContext);
cout << "/n" <<number_devices<<" /n";
if (number_devices < 1) {
ofLog(OF_LOG_ERROR, "ofxKinect: Did not find a device");
return false;
}
if (freenect_open_device(kinectContext, &kinectDevice, 0) < 0) {
ofLog(OF_LOG_ERROR, "ofxKinect: Could not open device # 0 tru # 1");
if (freenect_open_device(kinectContext, &kinectDevice, 1) < 0){
ofLog(OF_LOG_ERROR, "ofxKinect: Could not open device");
return false;
}
} else{
ofLog(OF_LOG_ERROR, "ofxKinect: was able open device # 0");
}
freenect_set_user(kinectDevice, this);
freenect_set_depth_callback(kinectDevice, &grabDepthFrame);
freenect_set_video_callback(kinectDevice, &grabRgbFrame);
startThread(true, false); // blocking, not verbose
return true;
}
int main(int argc, char **argv)
{
int res;
depth_mid = (uint8_t*)malloc(640*480*3);
depth_front = (uint8_t*)malloc(640*480*3);
rgb_back = (uint8_t*)malloc(640*480*3);
rgb_mid = (uint8_t*)malloc(640*480*3);
rgb_front = (uint8_t*)malloc(640*480*3);
printf("Kinect camera test\n");
int i;
for (i=0; i<2048; i++) {
float v = i/2048.0;
v = powf(v, 3)* 6;
t_gamma[i] = v*6*256;
}
g_argc = argc;
g_argv = argv;
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
freenect_select_subdevices(f_ctx, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
int user_device_number = 0;
if (argc > 1)
user_device_number = atoi(argv[1]);
if (nr_devices < 1) {
freenect_shutdown(f_ctx);
return 1;
}
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
freenect_shutdown(f_ctx);
return 1;
}
res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
if (res) {
printf("pthread_create failed\n");
freenect_shutdown(f_ctx);
return 1;
}
// OS X requires GLUT to run on the main thread
gl_threadfunc(NULL);
return 0;
}
bool initCamera()
{
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return false;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
freenect_select_subdevices(f_ctx, (freenect_device_flags)(FREENECT_DEVICE_CAMERA));
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
int user_device_number = 0;
if (nr_devices < 1)
return false;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
return false;
}
int accelCount = 0;
freenect_set_depth_callback(f_dev, depth_cb);
freenect_set_depth_mode(f_dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT));
freenect_set_user(f_dev, (void*)this);
}
int main( int argc, char **argv )
{
//depth_gl = (uint8_t*)malloc(640*480*3);
if( freenect_init( &f_context, NULL ) < 0 )
{
printf( "Freenect initialization failed.\n" );
return 1;
}
freenect_set_log_level( f_context, FREENECT_LOG_DEBUG );
freenect_select_subdevices( f_context, ( freenect_device_flags )( FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA ) );
if( freenect_num_devices ( f_context ) < 1 )
{
printf( "No devices found. Shutting down...\n" );
freenect_shutdown( f_context );
return 1;
}
if( freenect_open_device( f_context, &f_device, 0 ) <0 )
{
printf( "Couldn't open device. Shutting down...\n" );
freenect_shutdown( f_context );
return 1;
}
if( pthread_create( &f_thread, NULL, f_threadfunc, NULL ) )
{
printf( "Thread creation failed. Shutting down...\n" );
freenect_shutdown( f_context );
return 1;
}
glutInit( &argc, argv );
gl_threadfunc( NULL );
return 0;
}
KinectControl::KinectControl() {
printf("\nKinectControl Init\n");
errorCode = 0;
isInited = false;
if (kinectControlRef != NULL) {
errorCode = 1;
errorString = "KinectControl Already Started.";
printf("%s.\n",errorString.c_str());
return;
}
for (int i=0; i<2048; i++) {
float v = i/2048.0;
v = powf(v, 3)* 6;
t_gamma[i] = v*6*256;
}
kinectControlRef = this;
freenect_angle = 0;
user_device_number = -1;
requested_format = FREENECT_VIDEO_RGB;
current_format = FREENECT_VIDEO_RGB;
//depth_mid = (uint8_t*)malloc(640*480*3);
depth_front = (uint8_t*)malloc(640*480*3);
rgb_back = (uint8_t*)malloc(640*480*3);
rgb_mid = (uint8_t*)malloc(640*480*3);
rgb_front = (uint8_t*)malloc(640*480*3);
depth_mid = NULL;
memset(depth_front,0,(640*480*3));
memset(rgb_back,0,(640*480*3));
memset(rgb_mid,0,(640*480*3));
memset(rgb_front,0,(640*480*3));
if (freenect_init(&f_ctx, NULL) < 0) {
errorCode = 2;
errorString = "freenect_init() failed.";
printf("%s\n",errorString.c_str());
return;
} else {
printf("freenect_init() OK\n");
}
freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
freenect_select_subdevices(f_ctx, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
// check if there were no device found.
if (nr_devices < 0) {
freenect_shutdown(f_ctx);
errorCode = 3;
errorString = "No freenect devices found!";
printf("%s\n", errorString.c_str());
}
}
jboolean openSync(JNIEnv* env) {
__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Start Sync");
sendMsgToJava(NULL, "Starting Sync...");
int res;
depth_mid = (uint8_t*) malloc(640 * 480 * 4);
depth_front = (uint8_t*) malloc(640 * 480 * 3);
rgb_back = (uint8_t*) malloc(640 * 480 * 3);
rgb_mid = (uint8_t*) malloc(640 * 480 * 3);
rgb_front = (uint8_t*) malloc(640 * 480 * 3);
int i;
for (i = 0; i < 2048; i++) {
float v = i / 2048.0;
v = powf(v, 3) * 6;
t_gamma[i] = v * 6 * 256;
}
//init kinect context
if (freenect_init(&f_ctx, NULL) < 0) {
__android_log_print(ANDROID_LOG_ERROR, LOG_TAG,
"Kinect open sync failed\n");
sendMsgToJava(env, "Kinect open sync failed");
return FALSE;
}
//settup
freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
freenect_select_subdevices(
f_ctx,
(freenect_device_flags) (FREENECT_DEVICE_MOTOR
| FREENECT_DEVICE_CAMERA));
//get num dev
int nr_devices = freenect_num_devices(f_ctx);
sprintf(my_log, "Number of Devices found %d\n", nr_devices);
sendMsgToJava(env, my_log);
__android_log_print(ANDROID_LOG_INFO, LOG_TAG, my_log);
int user_device_number = 0;
if (nr_devices < 1)
return FALSE;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
__android_log_print(ANDROID_LOG_ERROR, LOG_TAG, "Cannot Open device\n");
sendMsgToJava(env, "Cannot Open device");
return FALSE;
}
//create thread
res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, env);
if (res) {
__android_log_print(ANDROID_LOG_ERROR, LOG_TAG,
"pthread_create failed...\n");
sendMsgToJava(env, "pthread_create failed...");
return FALSE;
}
return TRUE;
}
int main() {
freenect_context *f_ctx;
freenect_device *f_dev;
if (freenect_init(&f_ctx, NULL) < 0) {
fprintf(stderr, "freenect_init() failed\n");
return 1;
}
freenect_select_subdevices(f_ctx, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
if (freenect_num_devices(f_ctx) < 1) {
fprintf(stderr, "no devices found\n");
freenect_shutdown(f_ctx);
return 1;
}
if (freenect_open_device(f_ctx, &f_dev, 0) < 0) {
fprintf(stderr, "can't open device\n");
freenect_shutdown(f_ctx);
return 1;
}
depth_image = image_create(640, 480);
freenect_set_led(f_dev, LED_GREEN);
freenect_set_depth_callback(f_dev, capture_depth_image);
freenect_set_depth_mode(f_dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT));
freenect_start_depth(f_dev);
if (signal(SIGINT, handle_interrupt) == SIG_IGN) {
signal(SIGINT, SIG_IGN);
}
if (signal(SIGTERM, handle_interrupt) == SIG_IGN) {
signal(SIGTERM, SIG_IGN);
}
fprintf(stdout, "\x1B[2J");
while (running && freenect_process_events(f_ctx) >= 0) {
struct winsize w;
ioctl(STDOUT_FILENO, TIOCGWINSZ, &w);
fprintf(stdout, "\x1B[1;1H");
draw_depth_image(stdout, w.ws_col, w.ws_row - 1);
}
freenect_stop_depth(f_dev);
freenect_set_led(f_dev, LED_OFF);
freenect_close_device(f_dev);
freenect_shutdown(f_ctx);
image_destroy(depth_image);
return 0;
}
bool Kinect::setup() {
if(ctx) {
printf("Error: the freenect context has been setup already.\n");
return false;
}
if(freenect_init(&ctx, NULL) < 0) {
printf("Error: cannot init libfreenect.\n");
return false;
}
freenect_set_log_level(ctx, FREENECT_LOG_DEBUG);
int ndevices = freenect_num_devices(ctx);
if(ndevices < 1) {
printf("Error: cannot find a kinect. @todo cleanup mem.\n");
freenect_shutdown(ctx);
ctx = NULL;
return false;
}
printf("Number of found kinect devices: %d\n", ndevices);
freenect_select_subdevices(ctx, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
//freenect_select_subdevices(ctx, (freenect_device_flags)( FREENECT_DEVICE_CAMERA));
int devnum = 0;
if(freenect_open_device(ctx, &device, devnum) < 0) {
printf("Error: cannot open device: %d\n", devnum);
freenect_shutdown(ctx);
ctx = NULL;
return false;
}
freenect_set_user(device, this);
uint32_t w = 640;
uint32_t h = 480;
uint32_t nbytes = w * h * 3;
nbytes_rgb = nbytes;
rgb_back = new uint8_t[nbytes];
rgb_mid = new uint8_t[nbytes];
rgb_front = new uint8_t[nbytes];
depth_back = new uint8_t[nbytes];
depth_mid = new uint8_t[nbytes];
depth_front = new uint8_t[nbytes];
uv_mutex_lock(&mutex);
must_stop = false;
uv_mutex_unlock(&mutex);
uv_thread_create(&thread, kinect_thread, this);
return true;
}
int main(int argc, char** argv) {
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_INFO);
freenect_select_subdevices(f_ctx, FREENECT_DEVICE_AUDIO);
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
if (nr_devices < 1) {
freenect_shutdown(f_ctx);
return 1;
}
int user_device_number = 0;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
freenect_shutdown(f_ctx);
return 1;
}
state.max_samples = 256 * 60;
state.current_idx = 0;
state.buffers[0] = (int32_t*)malloc(state.max_samples * sizeof(int32_t));
state.buffers[1] = (int32_t*)malloc(state.max_samples * sizeof(int32_t));
state.buffers[2] = (int32_t*)malloc(state.max_samples * sizeof(int32_t));
state.buffers[3] = (int32_t*)malloc(state.max_samples * sizeof(int32_t));
memset(state.buffers[0], 0, state.max_samples * sizeof(int32_t));
memset(state.buffers[1], 0, state.max_samples * sizeof(int32_t));
memset(state.buffers[2], 0, state.max_samples * sizeof(int32_t));
memset(state.buffers[3], 0, state.max_samples * sizeof(int32_t));
freenect_set_user(f_dev, &state);
freenect_set_audio_in_callback(f_dev, in_callback);
freenect_start_audio(f_dev);
int res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
if (res) {
printf("pthread_create failed\n");
freenect_shutdown(f_ctx);
return 1;
}
ros::init(argc, argv, "kinect_audio");
MicView mv;
mv.spin();
return 0;
}
int main(int argc, char **argv)
{
int res;
printf("Kinect camera test\n");
int i;
for (i=0; i<2048; i++) {
float v = i/2048.0;
v = powf(v, 3)* 6;
t_gamma[i] = v*6*256;
}
g_argc = argc;
g_argv = argv;
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
int user_device_number = 0;
if (argc > 1)
user_device_number = atoi(argv[1]);
if (nr_devices < 1)
return 1;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
return 1;
}
res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
if (res) {
printf("pthread_create failed\n");
return 1;
}
// OS X requires GLUT to run on the main thread
gl_threadfunc(NULL);
return 0;
}
//--------------------------------------------------------------------
bool ofxKinect::init(bool infrared, bool video, bool texture){
if(isConnected()){
ofLog(OF_LOG_WARNING, "ofxKinect: Do not call init while ofxKinect is running!");
return false;
}
clear();
bInfrared = infrared;
bGrabVideo = video;
bytespp = infrared?1:3;
calibration.init(bytespp);
bUseTexture = texture;
int length = width*height;
depthPixelsRaw = new unsigned short[length];
depthPixelsBack = new unsigned short[length];
videoPixels = new unsigned char[length*bytespp];
// pixels.setFromExternalPixels(videoPixels, width, height, OF_IMAGE_COLOR);
videoPixelsBack = new unsigned char[length*bytespp];
memset(depthPixelsRaw, 0, length*sizeof(unsigned short));
memset(depthPixelsBack, 0, length*sizeof(unsigned short));
memset(videoPixels, 0, length*bytespp*sizeof(unsigned char));
memset(videoPixelsBack, 0, length*bytespp*sizeof(unsigned char));
if(bUseTexture){
depthTex.allocate(width, height, GL_LUMINANCE);
videoTex.allocate(width, height, infrared?GL_LUMINANCE:GL_RGB);
}
if (freenect_init(&kinectContext, NULL) < 0){
ofLog(OF_LOG_ERROR, "ofxKinect: freenet_init failed");
return false;
}
ofLog(OF_LOG_VERBOSE, "ofxKinect: Inited");
int number_devices = freenect_num_devices(kinectContext);
ofLog(OF_LOG_VERBOSE, "ofxKinect: Number of Devices found: " + ofToString(number_devices));
bGrabberInited = true;
return bGrabberInited;
}
int main(int argc, char **argv)
{
int i, res;
for (i=0; i<2048; i++) {
float v = i/2048.0;
v = powf(v, 3)* 6;
t_gamma[i] = v*6*256;
}
g_argc = argc;
g_argv = argv;
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
int user_device_number = 0;
if (argc > 1)
user_device_number = atoi(argv[1]);
if (nr_devices < 1)
return 1;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
return 1;
}
if ( network_init() < 0 )
return -1;
res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
if (res) {
printf("pthread_create failed\n");
return 1;
}
while(!die && freenect_process_events(f_ctx) >= 0 );
return 0;
}
int initFreenect() {
// int res = 0;
//setup Freenect...
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_ERROR);
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
int user_device_number = 0;
// if (argc > 1)
// user_device_number = atoi(argv[1]);
//
// if (nr_devices < 1)
// return 1;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
return 1;
}
freenect_set_tilt_degs(f_dev,freenect_angle);
freenect_set_led(f_dev,LED_RED);
freenect_set_depth_callback(f_dev, depth_cb);
//freenect_set_rgb_callback(f_dev, rgb_cb);
//freenect_set_rgb_format(f_dev, FREENECT_FORMAT_RGB);
freenect_set_video_callback(f_dev, rgb_cb);
freenect_set_video_format(f_dev, FREENECT_VIDEO_RGB);
freenect_set_depth_format(f_dev, FREENECT_DEPTH_11BIT);
freenect_start_depth(f_dev);
freenect_start_video(f_dev);
//start the freenect thread to poll for events
// res = pthread_create(&ocv_thread, NULL, freenect_threadfunc, NULL);
// if (res) {
// printf("pthread_create failed\n");
// return 1;
// }
return 0;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "kinect_motor");
freenect_context * context = 0;
if (freenect_init(&context, NULL) < 0) {
ROS_ERROR("freenect_init() failed");
return 1;
}
freenect_set_log_level(context, FREENECT_LOG_DEBUG);
freenect_select_subdevices(context, (freenect_device_flags)(FREENECT_DEVICE_MOTOR));
int devicesCout = freenect_num_devices (context);
ROS_INFO("Number of devices found: %d", devicesCout);
if (devicesCout < 1) {
freenect_shutdown(context);
return 1;
}
ROS_INFO("Connecting to device: 1");
if (freenect_open_device(context, &device, 0) < 0) {
printf("Could not open device\n");
freenect_shutdown(context);
return 1;
}
freenect_set_tilt_degs(device, 0);
ros::NodeHandle nodeHandleForAngle;
ros::Subscriber angleSubscriber = nodeHandleForAngle.subscribe("angle", 10, Angle);
ros::NodeHandle nodeHandleForLed;
ros::Subscriber ledSubscriber = nodeHandleForLed.subscribe("led", 10, Led);
ros::spin();
freenect_close_device(device);
freenect_shutdown(context);
return 0;
}
int main(int argc, char **argv) {
freenect_context *fc;
freenect_device *fd;
if (freenect_init(&fc, 0) < 0) {
printf("failed to init freenect\n");
exit(1);
}
if (freenect_num_devices(fc) < 1) {
printf("no kinect found\n");
freenect_shutdown(fc);
exit(1);
}
if (freenect_open_device(fc, &fd, 0) < 0) {
printf("unable to open device 0\n");
freenect_shutdown(fc);
exit(1);
}
double want;
while (1) {
want = 30.0;
freenect_set_tilt_degs(fd, want);
freenect_set_led(fd, LED_RED);
while (fabs(freenect_get_tilt_degs(freenect_get_tilt_state(fd)) - want) > 1) {
freenect_update_tilt_state(fd);
usleep(1000);
}
want = -30.0;
freenect_set_tilt_degs(fd, want);
freenect_set_led(fd, LED_GREEN);
while (fabs(freenect_get_tilt_degs(freenect_get_tilt_state(fd)) - want) > 1) {
freenect_update_tilt_state(fd);
usleep(1000);
}
}
freenect_close_device(fd);
freenect_shutdown(fc);
exit(0);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "kinect_audio");
freenect_context * contex;
if (freenect_init(&contex, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
freenect_set_log_level(contex, FREENECT_LOG_SPEW);
freenect_select_subdevices(contex, FREENECT_DEVICE_AUDIO);
int nr_devices = freenect_num_devices(contex);
printf ("Number of devices found: %d\n", nr_devices);
if (nr_devices < 1) {
freenect_shutdown(contex);
return 1;
}
freenect_device * device;
int deviceNumber = 0;
if (freenect_open_device(contex, &device, deviceNumber) < 0) {
printf("Could not open device\n");
freenect_shutdown(contex);
return 1;
}
freenect_set_audio_in_callback(device, callback);
freenect_start_audio(device);
signal(SIGINT, cleanup);
audioPublisher = ros::NodeHandle().advertise<kinect_audio::audio>("audio", 10);
while(!die && freenect_process_events(contex) >= 0) {
// If we did anything else, it might go here.
// Alternately, we might split off another thread
// to do this loop while the main thread did something
// interesting.
}
freenect_shutdown(contex);
return 0;
}
int KinectFreenect::start() {
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
int nr_devices = freenect_num_devices(f_ctx);
int user_device_number = 0;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device.\n");
return 1;
}
freenect_set_led(f_dev, LED_RED);
freenect_set_depth_callback(f_dev, KinectFreenect::depth_cb);
freenect_set_video_callback(f_dev, KinectFreenect::rgb_cb);
freenect_set_video_mode(f_dev, freenect_find_video_mode(current_resolution, current_format));
freenect_set_depth_mode(f_dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT));
freenect_start_depth(f_dev);
freenect_start_video(f_dev);
int res;
res = pthread_create(&fnkt_thread, NULL, freenect_threadfunc, NULL);
if (res) {
printf("pthread_create failed\n");
return 1;
}
int status = 0;
while (!die && status >= 0) {
char k = cvWaitKey(5);
if( k == 27 ) {
die = 1;
break;
}
}
return 0;
}
int main (int argc, char **argv) {
// Initalize the ROS node
ros::init(argc, argv, "kinect_base_node");
ros::NodeHandle n;
// Initalize the Freenect Context
if (freenect_init (&f_ctx, NULL) < 0) {
ROS_INFO("freenect_init() failed\n");
return 1;
}
freenect_set_log_level (f_ctx, FREENECT_LOG_INFO);
// Scan for kinect devices
int nr_devices = freenect_num_devices (f_ctx);
ROS_INFO("Number of devices found: %d\n", nr_devices);
// Get the device number
if (argc > 1) user_device_number = atoi (argv[1]);
if (nr_devices < 1) return 1;
// Calculate the kinect node base name
std::stringstream kinect_node_base;
kinect_node_base << "/kinect_base_node/" << user_device_number << "/";
// Open the base portion of the Kinect
if (freenect_open_device (f_ctx, &f_dev, user_device_number) < 0) {
ROS_INFO("Could not open device\n");
return 1;
}
// Get the defaults
double tiltDefaultPosition = 0.0;
double imuDefaultDuration = 1.0;
int ledDefaultState = LED_BLINK_GREEN;
n.getParam(kinect_node_base.str() + "tilt", tiltDefaultPosition);
n.getParam(kinect_node_base.str() + "led", ledDefaultState);
n.getParam(kinect_node_base.str() + "imuDuration", imuDefaultDuration);
// Set the default kinect state
freenect_set_tilt_degs(f_dev, tiltDefaultPosition);
freenect_set_led(f_dev, (freenect_led_options) ledDefaultState);
// Create the provided services
ros::Subscriber subTilt = n.subscribe(kinect_node_base.str() + "tilt", 1000, tilt_received_callback);
ros::Subscriber subLED = n.subscribe(kinect_node_base.str() + "led", 1000, led_received_callback);
imu_publisher = n.advertise<sensor_msgs::Imu>(kinect_node_base.str() + "imu", 1000);
ros::Timer imu_publish_timer = n.createTimer(ros::Duration(imuDefaultDuration), imu_publish_data);
ros::spin();
return 0;
}
//---------------------------------------------------------------------------
void ofxKinect::threadedFunction(){
if (freenect_init(&kinectContext, NULL) < 0) {
ofLog(OF_LOG_ERROR, "ofxKinect: freenet_init failed");
}
int number_devices = freenect_num_devices(kinectContext);
ofLog(OF_LOG_VERBOSE, "ofxKinect: Number of Devices found: " + ofToString(number_devices));
if (number_devices < 1) {
ofLog(OF_LOG_ERROR, "ofxKinect: didnt find a device");
return;
}
if (freenect_open_device(kinectContext, &kinectDevice, 0) < 0) {
ofLog(OF_LOG_ERROR, "ofxKinect: could not open device");
return;
}
freenect_set_led(kinectDevice, LED_GREEN);
freenect_set_depth_callback(kinectDevice, &grabDepthFrame);
freenect_set_rgb_callback(kinectDevice, &grabRgbFrame);
freenect_set_rgb_format(kinectDevice, FREENECT_FORMAT_RGB);
freenect_set_depth_format(kinectDevice, FREENECT_FORMAT_11_BIT);
ofLog(OF_LOG_VERBOSE, "ofxKinect: Connection opened");
freenect_start_depth(kinectDevice);
freenect_start_rgb(kinectDevice);
while (isThreadRunning()) {
int16_t ax,ay,az;
freenect_get_raw_accelerometers(kinectDevice, &ax, &ay, &az);
rawAccel.set(ax, ay, az);
double dx,dy,dz;
freenect_get_mks_accelerometers(kinectDevice, &dx, &dy, &dz);
mksAccel.set(dx, dy, dz);
// printf("\r raw acceleration: %4d %4d %4d mks acceleration: %4f %4f %4f", ax, ay, az, dx, dy, dz);
}
}
int audio_setup(){
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return -1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_INFO);
freenect_select_subdevices(f_ctx, FREENECT_DEVICE_AUDIO);
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
if (nr_devices < 1)
return -1;
int user_device_number = 0;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
return 1;
}
freenect_set_audio_in_callback(f_dev, in_callback);
freenect_start_audio(f_dev);
return 0;
}
/*
* Class: org_ensor_robots_sensors_kinect_Driver
* Method: nativeInit
* Signature: ()V
*/
JNIEXPORT jint JNICALL Java_org_ensor_robots_sensors_kinect_Driver_nativeInit
(JNIEnv *aJNIEnv, jobject aThisObject)
{
f_running = 0;
(*aJNIEnv)->GetJavaVM(aJNIEnv, &jvm);
int rc = freenect_init(&f_ctx, NULL);
if (rc == 0) {
f_device_count = freenect_num_devices(f_ctx);
if (f_device_count > 0) {
f_devices = malloc(sizeof(jfreenect_device_t)*f_device_count);
int i;
for (i = 0; i < f_device_count; i++) {
f_devices[i].f_dev = NULL;
f_devices[i].f_depth_buffer = NULL;
f_devices[i].f_video_buffer = NULL;
f_devices[i].object = NULL;
}
f_running = 1;
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_JOINABLE);
int res = pthread_create(&f_thread, &attr, freenect_threadfunc, NULL);
pthread_attr_destroy(&attr);
}
else {
f_devices = NULL;
}
}
freenect_select_subdevices(f_ctx,
(freenect_device_flags)(
FREENECT_DEVICE_MOTOR |
FREENECT_DEVICE_CAMERA));
}
t_jit_err jit_freenect_grab_get_ndevices(t_jit_freenect_grab *x, void *attr, long *ac, t_atom **av){
if ((*ac)&&(*av)) {
} else {
*ac = 1;
if (!(*av = jit_getbytes(sizeof(t_atom)*(*ac)))) {
*ac = 0;
return JIT_ERR_OUT_OF_MEM;
}
}
if(f_ctx){
x->ndevices = freenect_num_devices(f_ctx);
}
else{
x->ndevices = 0;
}
jit_atom_setlong(*av,x->ndevices);
return JIT_ERR_NONE;
}
int main(int argc, char **argv)
{
int res;
//initGPIO();
bool pin = pollGPIO();
printf("GPIO pin = %d\n", pin);
int data_dir_number = 0;
sprintf(data_dir, "%s/%d", DATA_DIR, data_dir_number);
struct stat st;
while(stat(data_dir,&st) == 0){
data_dir_number++;
sprintf(data_dir, "%s/%d", DATA_DIR, data_dir_number);
}
mkdir(data_dir, S_IREAD | S_IWRITE | S_IEXEC);
printf("Data dir is: %s\n", data_dir);
depth_back = malloc(640*480*2);
depth_mid = malloc(640*480*2);
depth_front = malloc(640*480*2);
rgb_back = malloc(640*480*3);
rgb_mid = malloc(640*480*3);
rgb_front = malloc(640*480*3);
printf("Kinect camera test\n");
//int i;
//for (i=0; i<2048; i++) {
// float v = i/2048.0;
// v = powf(v, 3)* 6;
// t_gamma[i] = v*6*256;
//}
g_argc = argc;
g_argv = argv;
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_FATAL);
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
int user_device_number = 0;
if (argc > 1)
user_device_number = atoi(argv[1]);
if (nr_devices < 1)
return 1;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
return 1;
}
res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
if (res) {
printf("pthread_create failed\n");
return 1;
}
// OS X requires GLUT to run on the main thread
gl_threadfunc(NULL);
//closeGPIO();
return 0;
}
int deviceCount() {
return freenect_num_devices(m_ctx);
}
int main(int argc, char *argv[])
{
struct kingrid_info data;
freenect_context *kn;
freenect_device *kn_dev;
int rows = 40, cols = 96; // terminal size
int opt;
sigdata = &data;
data.out_of_range = 0;
data.done = 0;
data.divisions = 6;
data.boxwidth = 10;
data.histrows = 8;
data.frame = 0;
data.zmin = 0.5;
data.zmax = 5.0;
data.disp_mode = STATS;
if(getenv("LINES")) {
rows = atoi(getenv("LINES"));
}
if(getenv("COLUMNS")) {
cols = atoi(getenv("COLUMNS"));
}
// Handle command-line options
while((opt = getopt(argc, argv, "shag:z:Z:")) != -1) {
switch(opt) {
case 's':
// Stats mode
data.disp_mode = STATS;
break;
case 'h':
// Histogram mode
data.disp_mode = HISTOGRAM;
break;
case 'a':
// ASCII art mode
data.disp_mode = ASCII;
break;
case 'g':
// Grid divisions
data.divisions = atoi(optarg);
break;
case 'z':
// Near clipping
data.zmin = atof(optarg);
break;
case 'Z':
// Far clipping
data.zmax = atof(optarg);
break;
default:
fprintf(stderr, "Usage: %s -[sha] [-g divisions] [-zZ distance]\n", argv[0]);
fprintf(stderr, "Use up to one of:\n");
fprintf(stderr, "\ts - Stats mode (default)\n");
fprintf(stderr, "\th - Histogram mode\n");
fprintf(stderr, "\ta - ASCII art mode\n");
fprintf(stderr, "Use any of:\n");
fprintf(stderr, "\tg - Set grid divisions for both dimensions\n");
fprintf(stderr, "\tz - Set near clipping plane in meters for ASCII art mode (default 0.5)\n");
fprintf(stderr, "\tZ - Set far clipping plane in meters for ASCII art mode (default 5.0)\n");
return -1;
}
}
data.boxwidth = (cols - 1) / data.divisions - 3;
if(data.boxwidth < 10) {
data.boxwidth = 10;
}
data.histrows = (rows - 2) / data.divisions - 1;
init_lut(data.depth_lut);
if(signal(SIGINT, intr) == SIG_ERR ||
signal(SIGTERM, intr) == SIG_ERR) {
ERROR_OUT("Error setting signal handlers\n");
return -1;
}
if(freenect_init(&kn, NULL) < 0) {
ERROR_OUT("libfreenect init failed.\n");
return -1;
}
INFO_OUT("Found %d Kinect devices.\n", freenect_num_devices(kn));
if(freenect_num_devices(kn) == 0) {
ERROR_OUT("No Kinect devices present.\n");
return -1;
}
if(freenect_open_device(kn, &kn_dev, 0)) {
ERROR_OUT("Error opening Kinect #0.\n");
return -1;
}
freenect_set_user(kn_dev, &data);
freenect_set_tilt_degs(kn_dev, -5);
freenect_set_led(kn_dev, LED_GREEN);
freenect_set_depth_callback(kn_dev, depth);
freenect_set_depth_format(kn_dev, FREENECT_DEPTH_11BIT);
freenect_start_depth(kn_dev);
int last_oor = data.out_of_range;
while(!data.done && freenect_process_events(kn) >= 0) {
if(last_oor != data.out_of_range) {
freenect_set_led(kn_dev, data.out_of_range ? LED_BLINK_RED_YELLOW : LED_GREEN);
last_oor = data.out_of_range;
}
}
freenect_stop_depth(kn_dev);
freenect_set_led(kn_dev, LED_OFF);
freenect_close_device(kn_dev);
freenect_shutdown(kn);
return 0;
}
int ofxKinectContext::numAvailable() {
if(!isInited())
init();
return freenect_num_devices(kinectContext) - kinects.size();
}
void qKinect::doStartGrabbing()
{
assert(m_app);
if (!m_app)
return;
f_ctx=0;
f_dev=0;
s_grabIndex=0;
if (m_kDlg)
delete m_kDlg;
m_kDlg=0;
s_max_depth_count = 0;
if (s_depth_data)
delete[] s_depth_data;
s_depth_count = 0;
s_depth_data = 0;
s_wDepth = s_hDepth = 0;
if (s_last_rgb_data)
delete[] s_last_rgb_data;
s_last_rgb_data = 0;
s_rgb_count = 0;
s_wRgb = s_hRgb = 0;
if (freenect_init(&f_ctx, NULL) < 0)
{
m_app->dispToConsole("[qKinect] Failed to initialize kinect driver!",ccMainAppInterface::ERR_CONSOLE_MESSAGE);
return;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
int nr_devices = freenect_num_devices(f_ctx);
m_app->dispToConsole(qPrintable(QString("[qKinect] Number of devices found: %1").arg(nr_devices)));
if (nr_devices < 1)
return;
if (freenect_open_device(f_ctx, &f_dev, 0) < 0)
{
m_app->dispToConsole("[qKinect] Failed to initialize kinect device!",ccMainAppInterface::ERR_CONSOLE_MESSAGE);
return;
}
//test: try to init high resolution mode
//freenect_frame_mode upDepthMode = freenect_find_depth_mode(FREENECT_RESOLUTION_HIGH, FREENECT_DEPTH_11BIT);
//int success = freenect_set_depth_mode(f_dev,upDepthMode);
/*** Depth information ***/
freenect_frame_mode depthMode = freenect_get_current_depth_mode(f_dev);
if (!depthMode.depth_format == FREENECT_DEPTH_11BIT)
{
depthMode = freenect_find_depth_mode(depthMode.resolution, FREENECT_DEPTH_11BIT);
if (freenect_set_depth_mode(f_dev,depthMode)<0)
{
m_app->dispToConsole("[qKinect] Failed to initialiaze depth mode!",ccMainAppInterface::ERR_CONSOLE_MESSAGE);
return;
}
}
if (!getResolution(depthMode.resolution,s_wDepth,s_hDepth))
{
m_app->dispToConsole("[qKinect] Failed to read depth resolution!",ccMainAppInterface::ERR_CONSOLE_MESSAGE);
return;
}
m_app->dispToConsole(qPrintable(QString("[qKinect] Depth resolution: %1 x %2").arg(s_wDepth).arg(s_hDepth)));
s_depth_data = new uint16_t[s_wDepth*s_hDepth];
if (!s_depth_data)
{
m_app->dispToConsole("[qKinect] Not enough memory!",ccMainAppInterface::ERR_CONSOLE_MESSAGE);
return;
}
s_max_depth_count = 1;
/*** RGB information ***/
bool grabRGB = true;
{
freenect_frame_mode rgbMode = freenect_get_current_video_mode(f_dev);
if (!rgbMode.video_format == FREENECT_VIDEO_RGB || depthMode.resolution != rgbMode.resolution)
{
rgbMode = freenect_find_video_mode(depthMode.resolution, FREENECT_VIDEO_RGB);
if (freenect_set_video_mode(f_dev,rgbMode)<0)
{
m_app->dispToConsole("[qKinect] Can't find a video mode compatible with current depth mode?!");
grabRGB = false;
}
}
//still want to/can grab RGB info?
if (grabRGB)
{
getResolution(rgbMode.resolution,s_wRgb,s_hRgb);
s_last_rgb_data = new uint8_t[s_wRgb*s_hRgb*3];
if (!s_last_rgb_data) //not enough memory for RGB
{
m_app->dispToConsole("[qKinect] Not enough memory to grab RGB info!");
grabRGB = false;
}
else
{
m_app->dispToConsole(qPrintable(QString("[qKinect] RGB resolution: %1 x %2").arg(s_wRgb).arg(s_hRgb)));
}
}
}
int freenect_angle = 0;
freenect_set_tilt_degs(f_dev,freenect_angle);
freenect_set_led(f_dev,LED_RED);
freenect_set_depth_callback(f_dev, depth_cb);
freenect_set_video_callback(f_dev, rgb_cb);
if (grabRGB)
freenect_set_video_buffer(f_dev, s_last_rgb_data);
freenect_start_depth(f_dev);
if (s_last_rgb_data)
freenect_start_video(f_dev);
m_kDlg = new ccKinectDlg(m_app->getMainWindow());
if (grabRGB)
m_kDlg->addMode(QString("%1 x %2").arg(s_wDepth).arg(s_hDepth));
else
m_kDlg->grabRGBCheckBox->setChecked(false);
m_kDlg->grabRGBCheckBox->setEnabled(grabRGB);
m_kDlg->grabPushButton->setEnabled(true);
connect(m_kDlg->grabPushButton, SIGNAL(clicked()), this, SLOT(grabCloud()));
connect(m_kDlg, SIGNAL(finished(int)), this, SLOT(dialogClosed(int)));
//m_kDlg->setModal(false);
//m_kDlg->setWindowModality(Qt::NonModal);
m_kDlg->show();
if (!m_timer)
{
m_timer = new QTimer(this);
connect(m_timer, SIGNAL(timeout()), this, SLOT(updateRTView()));
}
m_timer->start(0);
}
int main(int argc, char **argv)
{
int i;
for (i=0; i<2048; i++) {
float v = i/2048.0;
v = powf(v, 3)* 6;
t_gamma[i] = v*6*256;
}
g_argc = argc;
g_argv = argv;
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
int user_device_number = 0;
if (argc > 1)
user_device_number = atoi(argv[1]);
if (nr_devices < 1)
return 1;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
return 1;
}
if ( network_init() < 0 )
return -1;
freenect_set_depth_callback(f_dev, depth_cb);
freenect_set_rgb_callback(f_dev, rgb_cb);
freenect_set_rgb_format(f_dev, FREENECT_FORMAT_RGB);
freenect_set_depth_format(f_dev, FREENECT_FORMAT_11_BIT);
//freenect_start_depth(f_dev);
//freenect_set_led(f_dev,LED_RED);
while(!die && freenect_process_events(f_ctx) >= 0 ){
char buffer[6];
int n = read(data_child, buffer, 1024);
//printf("n: %d\n", n);
if(n == 6){
if (buffer[0] == 1) { //MOTOR
if (buffer[1] == 1) { //MOVE
int angle;
memcpy(&angle, &buffer[2], sizeof(int));
freenect_set_tilt_degs(f_dev,ntohl(angle));
}
}
}
}
network_close();
printf("-- done!\n");
pthread_exit(NULL);
}
int ofxKinectContext::numTotal() {
if(!isInited())
init();
return freenect_num_devices(kinectContext);
}
