//---------------------------------------------------------------------------
void ofxKinect::threadedFunction(){
if(currentLed < 0) {
freenect_set_led(kinectDevice, (freenect_led_options)ofxKinect::LED_GREEN);
}
freenect_frame_mode videoMode = freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, bIsVideoInfrared?FREENECT_VIDEO_IR_8BIT:FREENECT_VIDEO_RGB);
freenect_set_video_mode(kinectDevice, videoMode);
freenect_frame_mode depthMode = freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, bUseRegistration?FREENECT_DEPTH_REGISTERED:FREENECT_DEPTH_MM);
freenect_set_depth_mode(kinectDevice, depthMode);
ofLogVerbose("ofxKinect") << "device " << deviceId << " " << serial << " connection opened";
freenect_start_depth(kinectDevice);
if(bGrabVideo) {
freenect_start_video(kinectDevice);
}
while(isThreadRunning() && freenect_process_events(kinectContext.getContext()) >= 0) {
if(bTiltNeedsApplying) {
freenect_set_tilt_degs(kinectDevice, targetTiltAngleDeg);
bTiltNeedsApplying = false;
}
if(bLedNeedsApplying) {
if(currentLed == ofxKinect::LED_DEFAULT) {
freenect_set_led(kinectDevice, (freenect_led_options)ofxKinect::LED_GREEN);
}
else {
freenect_set_led(kinectDevice, (freenect_led_options)currentLed);
}
bLedNeedsApplying = false;
}
freenect_update_tilt_state(kinectDevice);
freenect_raw_tilt_state * tilt = freenect_get_tilt_state(kinectDevice);
currentTiltAngleDeg = freenect_get_tilt_degs(tilt);
rawAccel.set(tilt->accelerometer_x, tilt->accelerometer_y, tilt->accelerometer_z);
double dx,dy,dz;
freenect_get_mks_accel(tilt, &dx, &dy, &dz);
mksAccel.set(dx, dy, dz);
}
// finish up a tilt on exit
if(bTiltNeedsApplying) {
freenect_set_tilt_degs(kinectDevice, targetTiltAngleDeg);
bTiltNeedsApplying = false;
}
freenect_stop_depth(kinectDevice);
freenect_stop_video(kinectDevice);
if(currentLed < 0) {
freenect_set_led(kinectDevice, (freenect_led_options)ofxKinect::LED_RED);
}
kinectContext.close(*this);
ofLogVerbose("ofxKinect") << "device " << deviceId << " connection closed";
}
//---------------------------------------------------------------------------
void ofxKinect::threadedFunction(){
freenect_set_led(kinectDevice, LED_GREEN);
freenect_set_video_format(kinectDevice, bInfrared?FREENECT_VIDEO_IR_8BIT:FREENECT_VIDEO_YUV_RGB);
freenect_set_depth_format(kinectDevice, FREENECT_DEPTH_11BIT);
ofLog(OF_LOG_VERBOSE, "ofxKinect: Connection opened");
freenect_start_depth(kinectDevice);
if(bGrabVideo) {
freenect_start_video(kinectDevice);
}
// call platform specific processors (needed for Win)
if(freenect_process_events(kinectContext) != 0){
ofLog(OF_LOG_ERROR, "ofxKinect: freenect_process_events failed!");
return;
}
while(isThreadRunning()){
if(bTiltNeedsApplying){
freenect_set_tilt_degs(kinectDevice, targetTiltAngleDeg);
bTiltNeedsApplying = false;
}
if(bLedNeedsApplying){
freenect_set_led(kinectDevice, targetLedStatus);
bLedNeedsApplying = false;
}
freenect_update_tilt_state(kinectDevice);
freenect_raw_tilt_state * tilt = freenect_get_tilt_state(kinectDevice);
rawAccel.set(tilt->accelerometer_x, tilt->accelerometer_y, tilt->accelerometer_z);
double dx,dy,dz;
freenect_get_mks_accel(tilt, &dx, &dy, &dz);
mksAccel.set(dx, dy, dz);
ofSleepMillis(10);
// printf("\r raw acceleration: %4d %4d %4d mks acceleration: %4f %4f %4f", ax, ay, az, dx, dy, dz);
}
// finish up a tilt on exit
if(bTiltNeedsApplying){
freenect_set_tilt_degs(kinectDevice, targetTiltAngleDeg);
bTiltNeedsApplying = false;
}
freenect_stop_depth(kinectDevice);
freenect_stop_video(kinectDevice);
freenect_set_led(kinectDevice, LED_YELLOW);
freenect_close_device(kinectDevice);
ofLog(OF_LOG_VERBOSE, "ofxKinect: Connection closed");
}
//---------------------------------------------------------------------------
void ofxKinect::threadedFunction(){
freenect_set_led(kinectDevice, LED_GREEN);
freenect_frame_mode videoMode = freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, bIsVideoInfrared?FREENECT_VIDEO_IR_8BIT:FREENECT_VIDEO_RGB);
freenect_set_video_mode(kinectDevice, videoMode);
freenect_frame_mode depthMode = freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, bUseRegistration?FREENECT_DEPTH_REGISTERED:FREENECT_DEPTH_MM);
freenect_set_depth_mode(kinectDevice, depthMode);
ofLog(OF_LOG_VERBOSE, "ofxKinect: Device %d %s connection opened", deviceId, serial.c_str());
freenect_start_depth(kinectDevice);
if(bGrabVideo) {
freenect_start_video(kinectDevice);
}
// call platform specific processors (needed for Win)
if(freenect_process_events(kinectContext.getContext()) != 0) {
ofLog(OF_LOG_ERROR, "ofxKinect: Device %d freenect_process_events failed!", deviceId);
return;
}
while(isThreadRunning()) {
if(bTiltNeedsApplying) {
freenect_set_tilt_degs(kinectDevice, targetTiltAngleDeg);
bTiltNeedsApplying = false;
}
freenect_update_tilt_state(kinectDevice);
freenect_raw_tilt_state * tilt = freenect_get_tilt_state(kinectDevice);
currentTiltAngleDeg = freenect_get_tilt_degs(tilt);
rawAccel.set(tilt->accelerometer_x, tilt->accelerometer_y, tilt->accelerometer_z);
double dx,dy,dz;
freenect_get_mks_accel(tilt, &dx, &dy, &dz);
mksAccel.set(dx, dy, dz);
// ... and $0.02 for the scheduler
ofSleepMillis(10);
}
// finish up a tilt on exit
if(bTiltNeedsApplying) {
freenect_set_tilt_degs(kinectDevice, targetTiltAngleDeg);
bTiltNeedsApplying = false;
}
freenect_stop_depth(kinectDevice);
freenect_stop_video(kinectDevice);
freenect_set_led(kinectDevice, LED_YELLOW);
kinectContext.close(*this);
ofLog(OF_LOG_VERBOSE, "ofxKinect: Device %d connection closed", deviceId);
}
void keyPressed(unsigned char key, int x, int y)
{
if (key == 27) {
die = 1;
pthread_join(freenect_thread, NULL);
glutDestroyWindow(window);
free(depth_mid);
free(depth_front);
free(rgb_back);
free(rgb_mid);
free(rgb_front);
pthread_exit(NULL);
}
if (key == 'w') {
freenect_angle++;
if (freenect_angle > 30) {
freenect_angle = 30;
}
}
if (key == 's') {
freenect_angle = 0;
}
if (key == 'f') {
if (requested_format == FREENECT_VIDEO_IR_8BIT)
requested_format = FREENECT_VIDEO_RGB;
else if (requested_format == FREENECT_VIDEO_RGB)
requested_format = FREENECT_VIDEO_YUV_RGB;
else
requested_format = FREENECT_VIDEO_IR_8BIT;
}
if (key == 'x') {
freenect_angle--;
if (freenect_angle < -30) {
freenect_angle = -30;
}
}
if (key == '1') {
freenect_set_led(f_dev,LED_GREEN);
}
if (key == '2') {
freenect_set_led(f_dev,LED_RED);
}
if (key == '3') {
freenect_set_led(f_dev,LED_YELLOW);
}
if (key == '4') {
freenect_set_led(f_dev,LED_BLINK_GREEN);
}
if (key == '5') {
// 5 is the same as 4
freenect_set_led(f_dev,LED_BLINK_GREEN);
}
if (key == '6') {
freenect_set_led(f_dev,LED_BLINK_RED_YELLOW);
}
if (key == '0') {
freenect_set_led(f_dev,LED_OFF);
}
freenect_set_tilt_degs(f_dev,freenect_angle);
}
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;
}
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);
printf("'w'-tilt up, 's'-level, 'x'-tilt down, '0'-'6'-select LED mode\n");
if ( pthread_create(&data_in_thread, NULL, data_in, NULL) )
{
fprintf(stderr, "Error on pthread_create() for data_in\n");
}
if ( pthread_create(&data_out_thread, NULL, data_out, NULL) )
{
fprintf(stderr, "Error on pthread_create() for data_out\n");
}
while(!die && freenect_process_events(f_ctx) >= 0 );
printf("\nshutting down streams...\n");
freenect_stop_depth(f_dev);
freenect_stop_rgb(f_dev);
network_close();
printf("-- done!\n");
return NULL;
}
//---------------------------------------------------------------------------
void ofxKinect::threadedFunction() {
freenect_set_led(kinectDevice, LED_GREEN);
freenect_set_video_format(kinectDevice, bInfrared?FREENECT_VIDEO_IR_8BIT:FREENECT_VIDEO_RGB);
freenect_set_depth_format(kinectDevice, FREENECT_DEPTH_11BIT);
freenect_set_depth_callback(kinectDevice, &grabDepthFrame);
freenect_set_video_callback(kinectDevice, &grabRgbFrame);
ofLog(OF_LOG_VERBOSE, "ofxKinect: Connection opened");
freenect_start_depth(kinectDevice);
freenect_start_video(kinectDevice);
while (isThreadRunning()) {
if( bTiltNeedsApplying ) {
freenect_set_tilt_degs(kinectDevice, targetTiltAngleDeg);
bTiltNeedsApplying = false;
}
freenect_update_tilt_state(kinectDevice);
freenect_raw_tilt_state * tilt = freenect_get_tilt_state(kinectDevice);
rawAccel.set(tilt->accelerometer_x, tilt->accelerometer_y, tilt->accelerometer_z);
double dx,dy,dz;
freenect_get_mks_accel(tilt, &dx, &dy, &dz);
mksAccel.set(dx, dy, dz);
ofSleepMillis(10);
// printf("\r raw acceleration: %4d %4d %4d mks acceleration: %4f %4f %4f", ax, ay, az, dx, dy, dz);
}
//TODO: uncomment these when they are implemented in freenect
freenect_set_tilt_degs(kinectDevice, 0);
freenect_update_tilt_state(kinectDevice);
freenect_stop_depth(kinectDevice);
freenect_stop_video(kinectDevice);
freenect_set_led(kinectDevice, LED_YELLOW);
freenect_close_device(kinectDevice);
freenect_shutdown(kinectContext);
ofLog(OF_LOG_VERBOSE, "ofxKinect: Connection closed");
}
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);
}
void jit_freenect_grab_set_tilt(t_jit_freenect_grab *x, void *attr, long argc, t_atom *argv)
{
if(argv){
x->tilt = jit_atom_getlong(argv);
CLIP_ASSIGN(x->tilt, -30, 30);
if(x->device){
freenect_set_tilt_degs(x->device,x->tilt);
}
}
}
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)
{
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_format(f_dev, current_format);
freenect_set_depth_format(f_dev, 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_format(f_dev, 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 KinectInterface::setAngle(
double _angle
)
{
// constrain the angle from -30 - +30
if(_angle > 30)
{
_angle = 30;
}
else if(_angle <-30)
{
_angle=-30;
}
freenect_set_tilt_degs(m_dev,_angle);
}
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;
}
void keyPressed(unsigned char key, int x, int y)
{
if (key == 27) {
die = 1;
pthread_join(freenect_thread, NULL);
glutDestroyWindow(window);
pthread_exit(NULL);
}
if (key == 'w') {
freenect_angle++;
if (freenect_angle > 30) {
freenect_angle = 30;
}
}
if (key == 's') {
freenect_angle = 0;
}
if (key == 'x') {
freenect_angle--;
if (freenect_angle < -30) {
freenect_angle = -30;
}
}
if (key == '1') {
freenect_set_led(f_dev,LED_GREEN);
}
if (key == '2') {
freenect_set_led(f_dev,LED_RED);
}
if (key == '3') {
freenect_set_led(f_dev,LED_YELLOW);
}
if (key == '4') {
freenect_set_led(f_dev,LED_BLINK_YELLOW);
}
if (key == '5') {
freenect_set_led(f_dev,LED_BLINK_GREEN);
}
if (key == '6') {
freenect_set_led(f_dev,LED_BLINK_RED_YELLOW);
}
if (key == '0') {
freenect_set_led(f_dev,LED_OFF);
}
freenect_set_tilt_degs(f_dev,freenect_angle);
}
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) {
// 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;
}
// the freenect thread.
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);
while (!die && freenect_process_events(f_ctx) >= 0) {
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);
}
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;
}
}
freenect_stop_depth(f_dev);
freenect_stop_video(f_dev);
freenect_close_device(f_dev);
freenect_shutdown(f_ctx);
return NULL;
}
void *data_in(void *arg) {
int n;
while(!die && freenect_process_events(f_ctx) >= 0 )
{
if(data_connected == 1){
char buffer[6];
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));
}
}
}
}
}
return NULL;
}
void keyPressed( unsigned char key, int x, int y )
{
if( key == 27 )
{
CloseAll();
}
if( key == 'w' )
{
f_angle++;
if( f_angle > 30 )
f_angle = 30;
}
if( key == 's' )
{
f_angle--;
if( f_angle < -30 )
f_angle = -30;
}
if( key == 'x' )
{
f_angle = 0;
}
if( key == 'q' )
{
offset++;
if( offset > maxdepth/3 )
offset = maxdepth/3;
}
if( key == 'e' )
{
offset--;
if( offset < 0 )
offset = 0;
}
freenect_set_tilt_degs( f_device, f_angle );
}
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* f_threadfunc( void *arg )
{
freenect_set_tilt_degs( f_device, f_angle );
freenect_set_led( f_device, LED_RED );
freenect_set_depth_callback( f_device, depth_cb );
freenect_set_video_callback(f_device, rgb_cb);
if( (W == 640) && H ==( 480 ))
{
freenect_set_video_mode( f_device, freenect_find_video_mode( FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB ) );
printf("Resolution:%d:%d\n",W,H);
fflush(stdout);
}
else
if(( W == 1280) &&( H == 1024) )
{
freenect_set_video_mode( f_device, freenect_find_video_mode( FREENECT_RESOLUTION_HIGH, FREENECT_VIDEO_RGB ) );
printf("Resolution:%d:%d\n",W,H);
fflush(stdout);
}
else
{
printf("Unknown resolution. Shutting down...\n");
CloseAll();
}
freenect_set_depth_mode( f_device, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT) );
freenect_start_video( f_device );
freenect_start_depth( f_device );
while ( !shutdown && freenect_process_events( f_context ) >= 0 )
{
}
CloseAll();
printf( "Done. Shutting down...\n" );
fflush(stdout);
return NULL;
}
void keyPressed(unsigned char key, int x, int y)
{
if (key == 27) {
die = 1;
pthread_join(freenect_thread, NULL);
glutDestroyWindow(window);
free(depth_mid);
free(depth_front);
free(rgb_back);
free(rgb_mid);
free(rgb_front);
// Not pthread_exit because OSX leaves a thread lying around and doesn't exit
exit(0);
}
if (key == 'w') {
freenect_angle++;
if (freenect_angle > 30) {
freenect_angle = 30;
}
tilt_changed++;
}
if (key == 's') {
freenect_angle = 0;
tilt_changed++;
}
if (key == 'f') {
if (requested_format == FREENECT_VIDEO_IR_8BIT)
requested_format = FREENECT_VIDEO_RGB;
else if (requested_format == FREENECT_VIDEO_RGB)
requested_format = FREENECT_VIDEO_YUV_RGB;
else
requested_format = FREENECT_VIDEO_IR_8BIT;
}
if (key == 'x') {
freenect_angle--;
if (freenect_angle < -30) {
freenect_angle = -30;
}
tilt_changed++;
}
if (key == 'e') {
static freenect_flag_value auto_exposure = FREENECT_ON;
freenect_set_flag(f_dev, FREENECT_AUTO_EXPOSURE, auto_exposure);
auto_exposure = auto_exposure ? FREENECT_OFF : FREENECT_ON;
}
if (key == 'b') {
static freenect_flag_value white_balance = FREENECT_ON;
freenect_set_flag(f_dev, FREENECT_AUTO_WHITE_BALANCE, white_balance);
white_balance = white_balance ? FREENECT_OFF : FREENECT_ON;
}
if (key == 'r') {
static freenect_flag_value raw_color = FREENECT_ON;
freenect_set_flag(f_dev, FREENECT_RAW_COLOR, raw_color);
raw_color = raw_color ? FREENECT_OFF : FREENECT_ON;
}
if (key == 'm') {
static freenect_flag_value mirror = FREENECT_ON;
freenect_set_flag(f_dev, FREENECT_MIRROR_DEPTH, mirror);
freenect_set_flag(f_dev, FREENECT_MIRROR_VIDEO, mirror);
mirror = mirror ? FREENECT_OFF : FREENECT_ON;
}
if (key == 'n') {
static freenect_flag_value near_mode = FREENECT_ON;
freenect_set_flag(f_dev, FREENECT_NEAR_MODE, near_mode);
near_mode = near_mode ? FREENECT_OFF : FREENECT_ON;
}
if (key == '+') {
uint16_t brightness = freenect_get_ir_brightness(f_dev) + 2;
freenect_set_ir_brightness(f_dev, brightness);
}
if (key == '-') {
uint16_t brightness = freenect_get_ir_brightness(f_dev) - 2;
freenect_set_ir_brightness(f_dev, brightness);
}
if (key == '1') {
freenect_set_led(f_dev,LED_GREEN);
}
if (key == '2') {
freenect_set_led(f_dev,LED_RED);
}
if (key == '3') {
freenect_set_led(f_dev,LED_YELLOW);
}
if (key == '4') {
freenect_set_led(f_dev,LED_BLINK_GREEN);
}
if (key == '5') {
// 5 is the same as 4
freenect_set_led(f_dev,LED_BLINK_GREEN);
}
if (key == '6') {
freenect_set_led(f_dev,LED_BLINK_RED_YELLOW);
}
if (key == '0') {
freenect_set_led(f_dev,LED_OFF);
}
if (key == 'o') {
if (camera_rotate) {
camera_rotate = 0;
glDisable(GL_DEPTH_TEST);
}
else {
camera_rotate = 1;
glEnable(GL_DEPTH_TEST);
}
}
if (tilt_changed) {
freenect_set_tilt_degs(f_dev, freenect_angle);
tilt_changed = 0;
}
}
void FreenectGrabber :: setTiltAngle(int angle)
{
if (!isConnected()) return;
freenect_set_tilt_degs(f_dev, angle);
}
void setTiltDegrees(double _angle) {
if(freenect_set_tilt_degs(m_dev, _angle) < 0) throw std::runtime_error("Cannot set angle in degrees");
}
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)
{
cv_depth_mat = cvCreateMat(480, 640, CV_16UC1);
cv_rgb_mat = cvCreateMat(480, 640, CV_8UC3);
int res;
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_INFO);
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,15);
freenect_set_tilt_degs(f_dev,0);
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_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);
cvNamedWindow("rgb", CV_WINDOW_NORMAL);
cvNamedWindow("depth", CV_WINDOW_NORMAL);
cvNamedWindow("depth_th", CV_WINDOW_NORMAL);
cvNamedWindow("contourWin", CV_WINDOW_NORMAL);
CvMat* cv_depth_threshold_mat = cvCreateMat(480,640, CV_8UC1);
res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
if (res) {
printf("pthread_create failed\n");
return 1;
}
// Variables for contour finding
CvSeq* contours = NULL;
CvMemStorage* memStorage = cvCreateMemStorage(0);
IplImage* contour_image = cvCreateImage(cvSize(640,480), 8, 1);
//hist_segment_init();
//feature_extract_init();
optflow_init(cvSize(640,480));
while (!die)
{
cvConvertScale(cv_depth_mat, cv_depth_threshold_mat, 255.0/2048.0, 0);
// 120 ~ 2.7 m
cvThreshold( cv_depth_threshold_mat, cv_depth_threshold_mat, 120.0, 120.0, CV_THRESH_TOZERO_INV);
//cvThreshold( cv_depth_threshold_mat, cv_depth_threshold_mat, 120.0, 255.0, CV_THRESH_BINARY_INV);
// Find contours
/*cvClearMemStorage(memStorage);
cvFindContours( cv_depth_threshold_mat, memStorage, &contours, sizeof(CvContour), CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, cvPoint(0,0));
cvZero(contour_image);
// Draw the contours
if (contours)
{
cvDrawContours(contour_image, contours, cvScalarAll(255.0), cvScalarAll(255.0), 1, 1, 8, cvPoint(0,0));
}
cvShowImage("contourWin",contour_image);*/
//extractFeatures(cv_depth_threshold_mat);
//hist_segment(cv_depth_threshold_mat, NULL);
optflow_calculate(cv_depth_threshold_mat, NULL);
cvShowImage("rgb", cv_rgb_mat);
cvShowImage("depth_th", cv_depth_threshold_mat);
char k = cvWaitKey(5);
if( k == 27 ) break;
}
optflow_deinit();
//hist_segment_deinit();
//feature_extract_deinit();
printf("-- done!\n");
cvDestroyWindow("rgb");
cvDestroyWindow("depth");
cvDestroyWindow("depth_th");
cvReleaseMat(&cv_depth_mat);
cvReleaseMat(&cv_rgb_mat);
cvReleaseMat(&cv_depth_threshold_mat);
// Release Contour variables
cvDestroyWindow("contourWin");
pthread_join(freenect_thread, NULL);
pthread_exit(NULL);
}
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);
}
void tilt_received_callback(const std_msgs::Float64::ConstPtr& tilt) {
/* Tilt the camera */
freenect_set_tilt_degs (f_dev, tilt->data);
ROS_INFO("Tilting to: %lf degrees", tilt->data);
}
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 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;
}