bool ofxKinectContext::open(ofxKinect& kinect, string serial) {
// rebuild if necessary (aka new kinects plugged in)
buildDeviceList();
if(numConnected() >= numTotal()) {
ofLogWarning("ofxKinect") << "no available devices found";
return false;
}
// is the serial available?
if(isConnected(serial)) {
ofLogWarning("ofxKinect") << "device " << serial << " already connected";
return false;
}
// open and add to vector
if(freenect_open_device_by_camera_serial(kinectContext, &kinect.kinectDevice, serial.c_str()) < 0) {
ofLogError("ofxKinect") << "could not open device " << serial;
return false;
}
int index = getDeviceIndex(serial);
kinects.insert(pair<int,ofxKinect*>(deviceList[index].id, &kinect));
kinect.deviceId = deviceList[index].id;
kinect.serial = serial;
return true;
}
void ompl::control::Syclop::setupRegionEstimates(void)
{
std::vector<int> numTotal(decomp_->getNumRegions(), 0);
std::vector<int> numValid(decomp_->getNumRegions(), 0);
base::StateValidityCheckerPtr checker = si_->getStateValidityChecker();
base::StateSamplerPtr sampler = si_->allocStateSampler();
base::State* s = si_->allocState();
for (int i = 0; i < numFreeVolSamples_; ++i)
{
sampler->sampleUniform(s);
int rid = decomp_->locateRegion(s);
if (checker->isValid(s))
++numValid[rid];
++numTotal[rid];
}
si_->freeState(s);
for (int i = 0; i < decomp_->getNumRegions(); ++i)
{
Region& r = graph_[boost::vertex(i, graph_)];
r.volume = decomp_->getRegionVolume(i);
if (numTotal[i] == 0)
r.percentValidCells = 1.0;
else
r.percentValidCells = ((double) numValid[i]) / (double)numTotal[i];
r.freeVolume = r.percentValidCells * r.volume;
if (r.freeVolume < std::numeric_limits<double>::epsilon())
r.freeVolume = std::numeric_limits<double>::epsilon();
updateRegion(r);
}
}
bool ofxKinectContext::open(ofxKinect& kinect, int id) {
// rebuild if necessary (aka new kinects plugged in)
buildDeviceList();
if(numConnected() >= numTotal()) {
ofLogWarning("ofxKinect") << "no available devices found";
return false;
}
// is the id available?
if(id < 0) {
id = nextAvailableId();
}
if(isConnected(id)) {
ofLogWarning("ofxKinect") << "device " << id << " already connected";
return false;
}
// open and add to vector
if(freenect_open_device(kinectContext, &kinect.kinectDevice, id) < 0) {
ofLogError("ofxKinect") << "could not open device " << id;
return false;
}
kinects.insert(pair<int,ofxKinect*>(id, &kinect));
// set kinect id & serial from bus id
kinect.deviceId = id;
kinect.serial = deviceList[getDeviceIndex(id)].serial;
return true;
}
bool ofxKinectContext::open(ofxKinect& kinect, string serial) {
// rebuild if necessary (aka new kinects plugged in)
buildDeviceList();
if(numConnected() >= numTotal()) {
ofLog(OF_LOG_WARNING, "ofxKinect: No available devices found");
return false;
}
// is the serial available?
if(isConnected(serial)) {
ofLog(OF_LOG_WARNING, "ofxKinect: Device %s already connected", serial.c_str());
return false;
}
// open and add to vector
if(freenect_open_device_by_camera_serial(kinectContext, &kinect.kinectDevice, serial.c_str()) < 0) {
ofLog(OF_LOG_ERROR, "ofxKinect: Could not open device %s", serial.c_str());
return false;
}
int id = getDeviceIndex(serial);
kinects.insert(pair<int,ofxKinect*>(id, &kinect));
kinect.deviceId = id;
kinect.serial = deviceList[id].serial;
return true;
}
bool ofxKinectContext::open(ofxKinect& kinect, int id) {
// rebuild if necessary (aka new kinects plugged in)
buildDeviceList();
if(numConnected() >= numTotal()) {
ofLog(OF_LOG_WARNING, "ofxKinect: No available devices found");
return false;
}
// is the id available?
if(id < 0) {
id = nextAvailableId();
}
if(isConnected(id)) {
ofLog(OF_LOG_WARNING, "ofxKinect: Device %d already connected", id);
return false;
}
// open and add to vector
if(freenect_open_device(kinectContext, &kinect.kinectDevice, id) < 0) {
ofLog(OF_LOG_ERROR, "ofxKinect: Could not open device %d", id);
return false;
}
kinects.insert(pair<int,ofxKinect*>(id, &kinect));
// set kinect id & serial from bus id
int index = getDeviceIndex(id);
kinect.deviceId = id;
kinect.serial = deviceList[index].serial;
return true;
}
void ofxKinectContext::listDevices(bool verbose) {
if(!isInited())
init();
stringstream stream;
if(numTotal() == 0) {
stream << "no devices found";
return;
}
else if(numTotal() == 1) {
stream << 1 << " device found";
}
else {
stream << deviceList.size() << " devices found";
}
if(verbose) {
ofLogVerbose("ofxKinect") << stream.str();
}
else {
ofLogNotice("ofxKinect") << stream.str();
}
stream.str("");
for(unsigned int i = 0; i < deviceList.size(); ++i) {
stream << " id: " << deviceList[i].id << " serial: " << deviceList[i].serial;
if(verbose) {
ofLogVerbose("ofxKinect") << stream.str();
}
else {
ofLogNotice("ofxKinect") << stream.str();
}
stream.str("");
}
}
void ofxKinectContext::listDevices(bool verbose) {
if(!isInited())
init();
stringstream stream;
if(numTotal() == 0) {
stream << "ofxKinect: No devices found";
return;
}
else if(numTotal() == 1) {
stream << "ofxKinect: " << 1 << " device found";
}
else {
stream << "ofxKinect: " << deviceList.size() << " devices found";
}
if(verbose) {
ofLog(OF_LOG_VERBOSE, stream.str());
}
else {
cout << stream.str() << endl;
}
stream.str("");
for(int i = 0; i < deviceList.size(); ++i) {
stream << " id: " << deviceList[i].id << " serial: " << deviceList[i].serial;
if(verbose) {
ofLog(OF_LOG_VERBOSE, stream.str());
}
else {
cout << stream.str() << endl;
}
stream.str("");
}
}