void *freenect_threadfunc(void *arg)
{
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_depth_format(f_dev, FREENECT_FORMAT_11_BIT);
freenect_start_depth(f_dev);
freenect_start_rgb(f_dev);
printf("'w'-tilt up, 's'-level, 'x'-tilt down, '0'-'6'-select LED mode\n");
while(!die && freenect_process_events(f_ctx) >= 0 )
{
int16_t ax,ay,az;
freenect_get_raw_accel(f_dev, &ax, &ay, &az);
double dx,dy,dz;
freenect_get_mks_accel(f_dev, &dx, &dy, &dz);
printf("\r raw acceleration: %4d %4d %4d mks acceleration: %4f %4f %4f\r", ax, ay, az, dx, dy, dz);
fflush(stdout);
}
printf("\nshutting down streams...\n");
freenect_stop_depth(f_dev);
freenect_stop_rgb(f_dev);
printf("-- done!\n");
return NULL;
}
JNIEXPORT void JNICALL Java_com_libfreenect_KinectRGBCamera_captureRawImage (JNIEnv * e, jobject o) {
env = e;
obj = o;
freenect_context *f_ctx;
freenect_device *f_dev;
printf("Kinect camera test\n");
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
}
if (freenect_open_device(f_ctx, &f_dev, 0) < 0) {
printf("Could not open device\n");
}
printf("Set RGB Callback");
freenect_set_rgb_callback(f_dev, rgb_cb);
printf("Starting RGB");
freenect_start_rgb(f_dev);
while(freenect_process_events(f_ctx) >= 0 );
freenect_close_device(f_dev);
}
/** \brief Start (resume) the data acquisition process. */
void
KinectDriver::start ()
{
freenect_start_depth (f_dev_);
if (config_.color_format == FREENECT_FORMAT_IR)
freenect_start_ir (f_dev_);
else
freenect_start_rgb (f_dev_);
started_ = true;
}
//---------------------------------------------------------------------------
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);
}
}
void *network_rgb(void *arg)
{
int childlen;
struct sockaddr_in childaddr;
childlen = sizeof(childaddr);
while ( !die )
{
printf("### Wait rgb client\n");
rgb_child = accept(s_rgb, (struct sockaddr *)&childaddr, (unsigned int *)&childlen);
if ( rgb_child < 0 )
{
fprintf(stderr, "Error on accept() for rgb, exit rgb thread.\n");
break;
}
printf("### Got rgb client\n");
send_policy_file(rgb_child);
rgb_connected = 1;
freenect_start_rgb(f_dev);
}
return NULL;
}
void *freenect_threadfunc(void *arg)
{
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_depth_format(f_dev, FREENECT_FORMAT_11_BIT);
freenect_start_depth(f_dev);
freenect_start_rgb(f_dev);
printf("'w'-tilt up, 's'-level, 'x'-tilt down, '0'-'6'-select LED mode\n");
while(!die && freenect_process_events(f_ctx) >= 0 )
{
freenect_raw_device_state* state;
freenect_update_device_state(f_dev);
state = freenect_get_device_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);
}
printf("\nshutting down streams...\n");
freenect_stop_depth(f_dev);
freenect_stop_rgb(f_dev);
freenect_close_device(f_dev);
freenect_shutdown(f_ctx);
printf("-- done!\n");
return NULL;
}
void startRGB() {
if(freenect_start_rgb(m_dev) != 0) throw std::runtime_error("Cannot start RGB callback");
}
int main(int argc, char **argv)
{
int res;
freenect_context *f_ctx;
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;
}
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_depth_format(f_dev, FREENECT_FORMAT_11_BIT);
res = pthread_create(&gl_thread, NULL, gl_threadfunc, NULL);
if (res) {
printf("pthread_create failed\n");
return 1;
}
freenect_start_depth(f_dev);
freenect_start_rgb(f_dev);
printf("'w'-tilt up, 's'-level, 'x'-tilt down, '0'-'6'-select LED mode\n");
while(!die && freenect_process_events(f_ctx) >= 0 )
{
int16_t ax,ay,az;
freenect_get_raw_accel(f_dev, &ax, &ay, &az);
double dx,dy,dz;
freenect_get_mks_accel(f_dev, &dx, &dy, &dz);
printf("\r raw acceleration: %4d %4d %4d mks acceleration: %4f %4f %4f\r", ax, ay, az, dx, dy, dz);
fflush(stdout);
}
printf("-- done!\n");
pthread_exit(NULL);
}
int main( int argc, char** argv ) {
int res;
int i;
for (i=0; i<2048; i++) {
float v = i/2048.0;
v = powf(v, 3)* 6;
t_gamma[i] = v*6*256;
}
printf("Kinect camera test\n");
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
if (freenect_open_device(f_ctx, &f_dev, 0) < 0) {
printf("Could not open device\n");
return 1;
}
cvNamedWindow( "RGB", CV_WINDOW_AUTOSIZE );
cvMoveWindow( "RGB", 0, 0);
rgbBack = cvCreateImage(cvSize(FREENECT_FRAME_W, FREENECT_FRAME_H), IPL_DEPTH_8U, 3);
rgbFront = cvCreateImage(cvSize(FREENECT_FRAME_W, FREENECT_FRAME_H), IPL_DEPTH_8U, 3);
cvNamedWindow( "Depth", CV_WINDOW_AUTOSIZE );
cvMoveWindow("Depth", FREENECT_FRAME_W, 0);
depthBack = cvCreateImage(cvSize(FREENECT_FRAME_W, FREENECT_FRAME_H), IPL_DEPTH_8U, 3);
depthFront = cvCreateImage(cvSize(FREENECT_FRAME_W, FREENECT_FRAME_H), IPL_DEPTH_8U, 3);
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);
res = pthread_create(&kinect_thread, NULL, kinect_threadFunc, NULL);
if (res) {
printf("pthread_create failed\n");
return 1;
}
freenect_start_depth(f_dev);
freenect_start_rgb(f_dev);
while(1) {
pthread_mutex_lock(&backbuf_mutex);
{
while (got_frames < 2) {
pthread_cond_wait(&framesReady_cond, &backbuf_mutex);
}
cvConvertImage(rgbBack, rgbFront, CV_BGR2GRAY);
cvConvertImage(depthBack, depthFront, CV_BGR2GRAY);
got_frames = 0;
}
pthread_mutex_unlock(&backbuf_mutex);
cvShowImage("RGB", rgbFront);
cvShowImage("Depth", depthFront);
char c = cvWaitKey(10);
if( c == 27 ) break;
}
cvDestroyWindow( "RGB" );
cvDestroyWindow( "Depth" );
}
