C++ (Cpp) freenect_sync_get_tilt_stateの例

コード例 #1

ファイル: CameraNUI.cpp プロジェクト: DisCODe/DCL_CameraNUI

void CameraNUI::setAngleFromProperty() {
	CLOG(LNOTICE) << "Setting angle: " << angle;
	freenect_sync_set_tilt_degs(angle, index);
	freenect_raw_tilt_state * state;
	freenect_sync_get_tilt_state(&state, index);
	CLOG(LNOTICE) << "Angle: " << state->tilt_angle << ", state: " << state->tilt_status;
}

コード例 #2

ファイル: as3-server.c プロジェクト: darrikmazey/libfreenect

void *data_out(void *arg) {
	int n;
	int16_t ax,ay,az;
	double dx,dy,dz;
	while(data_connected){
		#ifdef WIN32
		Sleep(1000/30);
		#else
		usleep(1000000 / 30); // EMULATE 30 FPS
		#endif
		char buffer_send[3*2+3*8];
		freenect_raw_tilt_state *state;
		freenect_sync_get_tilt_state(&state, 0);
		ax = state->accelerometer_x;
		ay = state->accelerometer_y;
		az = state->accelerometer_z;
		freenect_get_mks_accel(state, &dx, &dy, &dz);
		memcpy(&buffer_send,&ax, sizeof(int16_t));
		memcpy(&buffer_send[2],&ay, sizeof(int16_t));
		memcpy(&buffer_send[4],&az, sizeof(int16_t));
		memcpy(&buffer_send[6],&dx, sizeof(double));
		memcpy(&buffer_send[14],&dy, sizeof(double));
		memcpy(&buffer_send[22],&dz, sizeof(double));
		#ifdef WIN32
		int n = send(data_client_socket, (char*)buffer_send, 3*2+3*8, 0);
		#else
		n = write(data_child, buffer_send, 3*2+3*8);
		#endif
	}
	return NULL;
}

コード例 #3

ファイル: tiltdemo.c プロジェクト: Makeroni/nestk

int main(int argc, char *argv[])
{
	srand(time(0));

	while (1) {
		// Pick a random tilt and a random LED state
		freenect_led_options led = (freenect_led_options) (rand() % 6); // explicit cast
		int tilt = (rand() % 30)-15;
		freenect_raw_tilt_state *state = 0;
		double dx, dy, dz;

		// Set the LEDs to one of the possible states
		if (freenect_sync_set_led(led, 0)) no_kinect_quit();

		// Set the tilt angle (in degrees)
		if (freenect_sync_set_tilt_degs(tilt, 0)) no_kinect_quit();

		// Get the raw accelerometer values and tilt data
		if (freenect_sync_get_tilt_state(&state, 0)) no_kinect_quit();

		// Get the processed accelerometer values (calibrated to gravity)
		freenect_get_mks_accel(state, &dx, &dy, &dz);

		printf("led[%d] tilt[%d] accel[%lf,%lf,%lf]\n", led, tilt, dx,dy,dz);

		sleep(3);
	}
}

コード例 #4

ファイル: kinect_point_cloud.c プロジェクト: markcoatsworth/NCART-StreamJpegClient

void getKinectAngle(void) {
	int i;
	double totalX=0, totalY=0, totalZ=0;
	double tempPoint1[3];
	double tempPoint2[3];

	for (i=0; i<10; i++) {
		// Get the raw accelerometer values and tilt data
		if (freenect_sync_get_tilt_state(&tiltState, 0)) exit(1);
		// Get the processed accelerometer values (calibrated to gravity)
		freenect_get_mks_accel(tiltState, &dx, &dy, &dz);
		totalX+=dx; totalY+=dy; totalZ+=dz;
	}

	dx=(totalX/10)/98;
	dy=(totalY/10)/98;
	dz=(totalZ/10)/98;

	//dy-=0.1;
	//printf("length: %lf\n", sqrt(dx*dx+dy*dy+dz*dz));

	kinectAngleX = 0;//atan(dx/(sqrt(dy*dy+dz*dz)));
	kinectAngleZ = 0;//atan(dy/(sqrt(dx*dx+dz*dz)))-3.14159265/2;
	kinectAngleY = 0;//atan(dz/(sqrt(dx*dx+dz*dz)));

	printf("pitch: %lf ", kinectAngleX*(180.0/3.14159265));
	printf("yaw: %lf ", kinectAngleY*(180.0/3.14159265));
	printf("roll: %lf \n", kinectAngleZ*(180.0/3.14159265));

	kinectRotMat[0] = cos(kinectAngleZ)*cos(kinectAngleY);
	kinectRotMat[1] = cos(kinectAngleZ)*sin(kinectAngleY)*sin(kinectAngleX) - sin(kinectAngleZ)*cos(kinectAngleX);
	kinectRotMat[2] = cos(kinectAngleZ)*sin(kinectAngleY)*cos(kinectAngleX) + sin(kinectAngleZ)*sin(kinectAngleX);
	kinectRotMat[3] = sin(kinectAngleZ)*cos(kinectAngleY);
	kinectRotMat[4] = sin(kinectAngleZ)*sin(kinectAngleY)*sin(kinectAngleX) + cos(kinectAngleZ)*cos(kinectAngleX);
	kinectRotMat[5] = sin(kinectAngleZ)*sin(kinectAngleY)*cos(kinectAngleX) - cos(kinectAngleZ)*sin(kinectAngleX);
	kinectRotMat[6] = -sin(kinectAngleY);
	kinectRotMat[7] = cos(kinectAngleY)*sin(kinectAngleX);
	kinectRotMat[8] = cos(kinectAngleY)*cos(kinectAngleX);

	tempPoint1[0]=dx;
	tempPoint1[1]=dy;
	tempPoint1[2]=dz;

	matMul(kinectRotMat,3,3,tempPoint1,3,1,tempPoint2);

	dx=tempPoint2[0];
	dy=tempPoint2[1];
	dz=tempPoint2[2];
	//printf("accel[%lf,%lf,%lf]\n", dx,dy,dz);

}

コード例 #5

ファイル: as3-server.c プロジェクト: ABMNYZ/libfreenect

//send accelerometer data to client
void sendAccelerometers() {
	int16_t ax,ay,az;
	double dx,dy,dz;
	unsigned char buffer_send[3*2+3*8];
	freenect_raw_tilt_state *state;
	freenect_sync_get_tilt_state(&state, 0);
	ax = state->accelerometer_x;
	ay = state->accelerometer_y;
	az = state->accelerometer_z;
	freenect_get_mks_accel(state, &dx, &dy, &dz);
	memcpy(&buffer_send,&ax, sizeof(int16_t));
	memcpy(&buffer_send[2],&ay, sizeof(int16_t));
	memcpy(&buffer_send[4],&az, sizeof(int16_t));
	memcpy(&buffer_send[6],&dx, sizeof(double));
	memcpy(&buffer_send[14],&dy, sizeof(double));
	memcpy(&buffer_send[22],&dz, sizeof(double));
	int n = freenect_network_sendMessage(1, 2, buffer_send, 3*2+3*8);
	if ( n < 0)
	{
		printf("Error sending Accelerometers\n");
		client_connected = 0;
	}
}