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);
}
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;
}
FREENECTAPI int freenect_process_events_timeout(freenect_context *ctx, struct timeval *timeout)
{
int res = fnusb_process_events_timeout(&ctx->usb, timeout);
// Iterate over the devices in ctx. If any of them are flagged as
freenect_device* dev = ctx->first;
while(dev) {
if (dev->usb_cam.device_dead) {
__android_log_print(ANDROID_LOG_ERROR, LOG_TAG,"USB camera marked dead, stopping streams" );
FN_ERROR("USB camera marked dead, stopping streams\n");
res = -1;
freenect_stop_video(dev);
freenect_stop_depth(dev);
}
#ifdef BUILD_AUDIO
if (dev->usb_audio.device_dead) {
__android_log_print(ANDROID_LOG_ERROR, LOG_TAG,"USB audio marked dead, stopping streams" );
FN_ERROR("USB audio marked dead, stopping streams\n");
res = -1; // Or something else to tell the user that the device just vanished.
freenect_stop_audio(dev);
}
#endif
dev = dev->next;
}
return res;
}
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 KinectInterface::stopDepth()
{
if(freenect_stop_depth(m_dev) < 0)
{
throw std::runtime_error("Cannot stop depth callback");
}
}
//---------------------------------------------------------------------------
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";
}
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 *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;
}
int KntStop(kntCtx_t * ctx) {
ctx->isRunning = 0;
pthread_join(ctx->thread, NULL);
freenect_stop_depth(ctx->dev);
freenect_stop_video(ctx->dev);
}
void setDepthFormat(freenect_depth_format requested_format) {
if (requested_format != m_depth_format) {
freenect_stop_depth(m_dev);
if (freenect_set_depth_format(m_dev, requested_format) < 0) throw std::runtime_error("Cannot set depth format");
freenect_start_depth(m_dev);
m_depth_format = requested_format;
}
}
//---------------------------------------------------------------------------
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");
}
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;
}
void CloseAll()
{
shutdown = 1;
pthread_join( f_thread, NULL );
freenect_stop_depth( f_device );
freenect_close_device( f_device );
//free(depth_gl);
exit( 0 );
}
//---------------------------------------------------------------------------
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);
}
/*
* Class: org_ensor_robots_sensors_kinect_Device
* Method: nativeStopDepth
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_org_ensor_robots_sensors_kinect_Device_nativeStopDepth
(JNIEnv *aJNIEnv, jobject aThisObject, jint aDeviceId)
{
freenect_stop_depth(f_devices[aDeviceId].f_dev);
pthread_mutex_lock(&mutex);
(*aJNIEnv)->DeleteGlobalRef(aJNIEnv, f_devices[aDeviceId].depthbuffervalue);
free(f_devices[aDeviceId].f_depth_buffer);
f_devices[aDeviceId].f_depth_buffer = NULL;
pthread_mutex_unlock(&mutex);
}
/** \brief Stop (pause) the data acquisition process. */
void
KinectDriver::stop ()
{
freenect_stop_depth (f_dev_);
if (config_.color_format == FREENECT_FORMAT_IR)
freenect_stop_ir (f_dev_);
else
freenect_stop_rgb (f_dev_);
started_ = false;
}
static int change_depth_format(sync_kinect_t *kinect, freenect_depth_format fmt)
{
freenect_stop_depth(kinect->dev);
free_buffer_ring(&kinect->depth);
if (alloc_buffer_ring_depth(fmt, &kinect->depth))
return -1;
freenect_set_depth_mode(kinect->dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, fmt));
freenect_set_depth_buffer(kinect->dev, kinect->depth.bufs[2]);
freenect_start_depth(kinect->dev);
return 0;
}
static int change_depth_format(sync_kinect_t *kinect, freenect_depth_format fmt)
{
freenect_stop_depth(kinect->dev);
free_buffer_ring(&kinect->depth);
if (alloc_buffer_ring_depth(fmt, &kinect->depth))
return -1;
freenect_set_depth_format(kinect->dev, fmt);
freenect_set_depth_buffer(kinect->dev, kinect->depth.bufs[2]);
freenect_start_depth(kinect->dev);
return 0;
}
void setDepthFormat(freenect_depth_format requested_format, freenect_resolution requested_resolution = FREENECT_RESOLUTION_MEDIUM) {
if (requested_format != m_depth_format || requested_resolution != m_depth_resolution) {
freenect_stop_depth(m_dev);
freenect_frame_mode mode = freenect_find_depth_mode(requested_resolution, requested_format);
if (!mode.is_valid) throw std::runtime_error("Cannot set depth format: invalid mode");
if (freenect_set_depth_mode(m_dev, mode) < 0) throw std::runtime_error("Cannot set depth format");
freenect_start_depth(m_dev);
m_depth_format = requested_format;
m_depth_resolution = requested_resolution;
}
}
//----------------------------------------------------------------------------------------------------------------------
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);
}
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;
}
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);
}
}
//---------------------------------------------------------------------------
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");
}
// 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;
}
/*
* Class: org_ensor_robots_sensors_kinect_Device
* Method: nativeClose
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_org_ensor_robots_sensors_kinect_Device_nativeClose
(JNIEnv *aJNIEnv, jobject aThisObject, jint aDeviceId)
{
pthread_mutex_lock(&mutex);
if (f_devices[aDeviceId].f_video_buffer) {
freenect_stop_video(f_devices[aDeviceId].f_dev);
free(f_devices[aDeviceId].f_video_buffer);
f_devices[aDeviceId].f_video_buffer = NULL;
}
if (f_devices[aDeviceId].f_depth_buffer) {
freenect_stop_depth(f_devices[aDeviceId].f_dev);
free(f_devices[aDeviceId].f_depth_buffer);
f_devices[aDeviceId].f_depth_buffer = NULL;
}
freenect_close_device(f_devices[aDeviceId].f_dev);
(*aJNIEnv)->DeleteGlobalRef(aJNIEnv, f_devices[aDeviceId].object);
f_devices[aDeviceId].object = NULL;
pthread_mutex_unlock(&mutex);
}
void *capture_loop(void *arg) {
freenect_set_depth_callback(device, depth_captured);
freenect_set_depth_mode(device, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_MM));
freenect_start_depth(device);
freenect_set_video_callback(device, rgb_captured);
freenect_set_video_mode(device, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB));
freenect_set_video_buffer(device, kinect_rgb_buffer);
freenect_start_video(device);
while (freenect_process_events(context) >= 0) {
if (die) break;
}
printf("shutting down streams...\n");
freenect_stop_depth(device);
freenect_close_device(device);
freenect_shutdown(context);
printf("done!\n");
return NULL;
}
void kinect_thread(void* user) {
Kinect* kinect = static_cast<Kinect*>(user);
if(!kinect) {
printf("Error: kinect thread didn't receive a reference to the Kinect instance.\n");
::exit(EXIT_FAILURE);
}
freenect_device* dev = kinect->device;
//freenect_set_tilt_degs(dev, 15);
freenect_set_led(dev, LED_RED);
freenect_set_depth_callback(dev, kinect_depth_callback);
freenect_set_video_callback(dev, kinect_video_callback);
freenect_set_video_mode(dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB));
freenect_set_depth_mode(dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT));
freenect_set_video_buffer(dev, kinect->rgb_back);
freenect_set_depth_buffer(dev, kinect->depth_back);
freenect_start_depth(dev);
freenect_start_video(dev);
bool must_stop = false;
while(freenect_process_events(kinect->ctx) >= 0) {
uv_mutex_lock(&kinect->mutex);
must_stop = kinect->must_stop;
uv_mutex_unlock(&kinect->mutex);
if(must_stop) {
break;
}
}
freenect_set_led(dev, LED_GREEN);
freenect_stop_depth(dev);
freenect_stop_video(dev);
}
void init()
{
freenect_context *ctx;
freenect_device *dev;
if (freenect_init(&ctx, 0)) {
printf("Error: Cannot get context\n");
return;
}
// fakenect doesn't support audio yet, so don't bother claiming the device
freenect_select_subdevices(ctx, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
if (freenect_open_device(ctx, &dev, 0)) {
printf("Error: Cannot get device\n");
return;
}
print_mode("Depth", freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT));
print_mode("Video", freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB));
freenect_set_depth_mode(dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT));
freenect_start_depth(dev);
freenect_set_video_mode(dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, 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);
}