int KinectControl::initDevice(unsigned int _user_device_number) {
printf("KinectControl. initing the device.\n");
user_device_number = _user_device_number;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
this->errorCode = 4;
errorString = "Could not open device";
printf("%s\n", errorString.c_str());
freenect_shutdown(f_ctx);
return this->errorCode;
} else {
printf("Kinect device opened.\n");
isInited = true;
}
int res;
res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
if (res) {
errorString = "pthread_create failed";
printf("%s\n",errorString.c_str());
freenect_shutdown(f_ctx);
this->errorCode = 5;
return this->errorCode;
} else {
printf("Kinect thread created.\n");
}
return res;
}
int main(int argc, char **argv) {
init_cv_buffers();
context = init_kinect();
if (context == NULL) {
return 1;
}
if (freenect_open_device(context, &device, 0) < 0) {
printf("could not open device\n");
freenect_shutdown(context);
return 1;
}
int capture_loop_failed = pthread_create(&kinect_thread, NULL, capture_loop, NULL);
if (capture_loop_failed) {
printf("pthread_create failed\n");
freenect_shutdown(context);
return 1;
}
handle_sigint();
graphics_loop(argc, argv);
pthread_join(kinect_thread, NULL);
printf("thanks for shooting down quads!\n");
}
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;
}
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;
}
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;
}
void init()
{
freenect_context *ctx;
freenect_device *dev;
if (freenect_init(&ctx, 0)) {
printf("Error: Cannot get context\n");
return;
}
if (freenect_open_device(ctx, &dev, 0)) {
printf("Error: Cannot get device\n");
return;
}
freenect_set_depth_format(dev, FREENECT_DEPTH_11BIT);
freenect_start_depth(dev);
freenect_set_video_format(dev, FREENECT_VIDEO_RGB);
freenect_start_video(dev);
if (use_ffmpeg) {
init_ffmpeg_streams();
freenect_set_depth_callback(dev, depth_cb_ffmpeg);
freenect_set_video_callback(dev, rgb_cb_ffmpeg);
} else {
freenect_set_depth_callback(dev, depth_cb);
freenect_set_video_callback(dev, rgb_cb);
}
while (running && freenect_process_events(ctx) >= 0)
snapshot_accel(dev);
freenect_stop_depth(dev);
freenect_stop_video(dev);
freenect_close_device(dev);
freenect_shutdown(ctx);
}
//---------------------------------------------------------------------------
void ofxKinectContext::clear() {
if(isInited() && numConnected() < 1) {
freenect_shutdown(kinectContext);
kinectContext = NULL;
bInited = false;
}
}
static void *init(void *unused)
{
pending_runloop_tasks_wait_zero();
pthread_mutex_lock(&runloop_lock);
while (thread_running && freenect_process_events(ctx) >= 0) {
pthread_mutex_unlock(&runloop_lock);
// NOTE: This lets you run tasks while process_events isn't running
pending_runloop_tasks_wait_zero();
pthread_mutex_lock(&runloop_lock);
}
// Go through each device, call stop video, close device
int i;
for (i = 0; i < MAX_KINECTS; ++i) {
if (kinects[i]) {
freenect_stop_video(kinects[i]->dev);
freenect_stop_depth(kinects[i]->dev);
freenect_set_user(kinects[i]->dev, NULL);
freenect_close_device(kinects[i]->dev);
free_buffer_ring(&kinects[i]->video);
free_buffer_ring(&kinects[i]->depth);
free(kinects[i]);
kinects[i] = NULL;
}
}
freenect_shutdown(ctx);
pthread_mutex_unlock(&runloop_lock);
return NULL;
}
void kinect_finish(Kinect* kt){
pthread_mutex_unlock(&G_kt.mutex);
freenect_stop_depth(kt->dev);
freenect_stop_video(kt->dev);
freenect_close_device(kt->dev);
freenect_shutdown(kt->ctx);
}
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());
}
}
~Freenect() {
for(typename std::map<int, T*>::iterator it = m_devices.begin() ; it != m_devices.end() ; ++it) {
delete it->second;
}
m_stop = true;
pthread_join(m_thread, NULL);
if(freenect_shutdown(m_ctx) != 0) throw std::runtime_error("Cannot cleanup freenect library");
}
bool FreenectGrabber :: disconnectFromDevice()
{
// Exit requested.
m_connected = false;
freenect_close_device(f_dev);
freenect_shutdown(f_ctx);
return true;
}
//---------------------------------------------------------------------------
void ofxKinectContext::clear() {
if(isInited() && numConnected() < 1) {
freenect_shutdown(kinectContext);
kinectContext = NULL;
bInited = false;
ofLog(OF_LOG_VERBOSE, "ofxKinect: Context cleared");
}
}
void shutdown() {
thread_running_ = false;
freenect_thread_->join();
if (device_)
device_->shutdown();
device_.reset();
freenect_shutdown(driver_);
}
~Freenect() {
for(DeviceMap::iterator it = m_devices.begin() ; it != m_devices.end() ; ++it) {
delete it->second;
}
m_stop = true;
pthread_join(m_thread, NULL);
if(freenect_shutdown(m_ctx) < 0){} //FN_WARNING("Freenect did not shutdown in a clean fashion");
}
//---------------------------------------------------------------------------
void ofxKinectContext::clear() {
if(isInited() && numConnected() < 1) {
freenect_shutdown(kinectContext);
kinectContext = NULL;
bInited = false;
ofLogVerbose("ofxKinect") << "context cleared";
}
}
void* freenect_threadfunc(void* arg) {
while(!die && freenect_process_events(f_ctx) >= 0) {
// If we did anything else in the freenect thread, it might go here.
}
freenect_stop_audio(f_dev);
freenect_close_device(f_dev);
freenect_shutdown(f_ctx);
return NULL;
}
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::stop() {
die = 1;
freenect_stop_depth(f_dev);
freenect_stop_video(f_dev);
freenect_close_device(f_dev);
freenect_shutdown(f_ctx);
pthread_join(fnkt_thread, NULL);
return 0;
}
Kinect::~Kinect() {
printf("Error: need to free buffers.\n");
uv_mutex_lock(&mutex);
must_stop = true;
uv_mutex_unlock(&mutex);
uv_thread_join(&thread);
if(ctx) {
freenect_close_device(device);
freenect_shutdown(ctx);
ctx = NULL;
}
uv_mutex_destroy(&mutex);
has_new_rgb = false;
has_new_depth = false;
if(depth_back) {
delete[] depth_back;
}
if(depth_mid) {
delete[] depth_mid;
}
if(depth_front) {
delete[] depth_front;
}
depth_back = NULL;
depth_mid = NULL;
depth_front = NULL;
if(rgb_back) {
delete[] rgb_back;
}
if(rgb_mid) {
delete[] rgb_mid;
}
if(rgb_front) {
delete[] rgb_front;
}
rgb_back = NULL;
rgb_mid = NULL;
rgb_front = NULL;
device = NULL;
}
//----------------------------------------------------------------------------------------------------------------------
void KinectInterface::shutDownKinect()
{
/// stop the processing thread
m_process->setInActive();
/// stop the video and depth callbacks
freenect_stop_depth(m_dev);
freenect_stop_video(m_dev);
// close down our devices
freenect_close_device(m_dev);
freenect_shutdown(m_ctx);
}
void *freenect_threadfunc(void *arg)
{
int accelCount = 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);
freenect_set_video_mode(f_dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, current_format));
freenect_set_depth_mode(f_dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT));
freenect_set_video_buffer(f_dev, rgb_back);
freenect_start_depth(f_dev);
freenect_start_video(f_dev);
printf("'w' - tilt up, 's' - level, 'x' - tilt down, '0'-'6' - select LED mode, '+' & '-' - change IR intensity \n");
printf("'f' - change video format, 'm' - mirror video, 'o' - rotate video with accelerometer \n");
printf("'e' - auto exposure, 'b' - white balance, 'r' - raw color, 'n' - near mode (K4W only) \n");
while (!die && freenect_process_events(f_ctx) >= 0) {
//Throttle the text output
if (accelCount++ >= 2000)
{
accelCount = 0;
freenect_raw_tilt_state* state;
freenect_update_tilt_state(f_dev);
state = freenect_get_tilt_state(f_dev);
double dx,dy,dz;
freenect_get_mks_accel(state, &dx, &dy, &dz);
printf("\r raw acceleration: %4d %4d %4d mks acceleration: %4f %4f %4f", state->accelerometer_x, state->accelerometer_y, state->accelerometer_z, dx, dy, dz);
fflush(stdout);
}
if (requested_format != current_format) {
freenect_stop_video(f_dev);
freenect_set_video_mode(f_dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, requested_format));
freenect_start_video(f_dev);
current_format = requested_format;
}
}
printf("\nshutting down streams...\n");
freenect_stop_depth(f_dev);
freenect_stop_video(f_dev);
freenect_close_device(f_dev);
freenect_shutdown(f_ctx);
printf("-- done!\n");
return NULL;
}
void *freenect_threadfunc(void *arg)
{
printf("Freenect thread\n");
int accelCount = 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);
freenect_set_video_mode(f_dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, current_format));
freenect_set_depth_mode(f_dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT));
freenect_set_video_buffer(f_dev, rgb_back);
freenect_start_depth(f_dev);
freenect_start_video(f_dev);
printf("'w'-tilt up, 's'-level, 'x'-tilt down, '0'-'6'-select LED mode, 'f'-video format\n");
while (!die && freenect_process_events(f_ctx) >= 0) {
//Throttle the text output
if (accelCount++ >= 2000)
{
accelCount = 0;
//freenect_raw_tilt_state* state;
//freenect_update_tilt_state(f_dev);
//state = freenect_get_tilt_state(f_dev);
double dx,dy,dz;
//freenect_get_mks_accel(state, &dx, &dy, &dz);
//printf("\r raw acceleration: %4d %4d %4d mks acceleration: %4f %4f %4f", state->accelerometer_x, state->accelerometer_y, state->accelerometer_z, dx, dy, dz);
fflush(stdout);
}
if (requested_format != current_format) {
freenect_stop_video(f_dev);
freenect_set_video_mode(f_dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, requested_format));
freenect_start_video(f_dev);
current_format = requested_format;
}
}
printf("\nshutting down streams...\n");
freenect_stop_depth(f_dev);
freenect_stop_video(f_dev);
freenect_close_device(f_dev);
freenect_shutdown(f_ctx);
printf("-- done!\n");
return NULL;
}
/* Function: mdlTerminate =====================================================
* Abstract:
* In this function, you should perform any actions that are necessary
* at the termination of a simulation. For example, if memory was
* allocated in mdlStart, this is the place to free it.
*/
static void mdlTerminate(SimStruct *S)
{
SS_SimMode mode= ssGetSimMode(S);
if(mode==0)
{
printf("Term\n");
kinRunning= 0;
freenect_stop_depth(kinDev);
freenect_stop_video(kinDev);
freenect_close_device(kinDev);
freenect_shutdown(kinCtx);
}
}
KinectControl::~KinectControl() {
printf("Destroying KinectControl.\n");
die = 1;
pthread_join(freenect_thread, NULL);
freenect_shutdown(f_ctx);
free(depth_mid);
free(depth_front);
free(rgb_back);
free(rgb_mid);
free(rgb_front);
kinectControlRef = NULL;
}
/*
* Class: org_ensor_robots_sensors_kinect_Driver
* Method: nativeShutdown
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_org_ensor_robots_sensors_kinect_Driver_nativeShutdown
(JNIEnv *aJNIEnv, jobject aThisObject)
{
pthread_mutex_lock(&mutex);
f_running = 0;
pthread_mutex_unlock(&mutex);
pthread_join(f_thread, NULL);
freenect_shutdown(f_ctx);
f_device_count = 0;
if (f_devices != NULL) {
free(f_devices);
f_devices = NULL;
}
}
