int main(int argc, char** argv) {
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_INFO);
freenect_select_subdevices(f_ctx, FREENECT_DEVICE_AUDIO);
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
if (nr_devices < 1) {
freenect_shutdown(f_ctx);
return 1;
}
int user_device_number = 0;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
freenect_shutdown(f_ctx);
return 1;
}
state.max_samples = 256 * 60;
state.current_idx = 0;
state.buffers[0] = (int32_t*)malloc(state.max_samples * sizeof(int32_t));
state.buffers[1] = (int32_t*)malloc(state.max_samples * sizeof(int32_t));
state.buffers[2] = (int32_t*)malloc(state.max_samples * sizeof(int32_t));
state.buffers[3] = (int32_t*)malloc(state.max_samples * sizeof(int32_t));
memset(state.buffers[0], 0, state.max_samples * sizeof(int32_t));
memset(state.buffers[1], 0, state.max_samples * sizeof(int32_t));
memset(state.buffers[2], 0, state.max_samples * sizeof(int32_t));
memset(state.buffers[3], 0, state.max_samples * sizeof(int32_t));
freenect_set_user(f_dev, &state);
freenect_set_audio_in_callback(f_dev, in_callback);
freenect_start_audio(f_dev);
int res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
if (res) {
printf("pthread_create failed\n");
freenect_shutdown(f_ctx);
return 1;
}
ros::init(argc, argv, "kinect_audio");
MicView mv;
mv.spin();
return 0;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "kinect_audio");
freenect_context * contex;
if (freenect_init(&contex, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
freenect_set_log_level(contex, FREENECT_LOG_SPEW);
freenect_select_subdevices(contex, FREENECT_DEVICE_AUDIO);
int nr_devices = freenect_num_devices(contex);
printf ("Number of devices found: %d\n", nr_devices);
if (nr_devices < 1) {
freenect_shutdown(contex);
return 1;
}
freenect_device * device;
int deviceNumber = 0;
if (freenect_open_device(contex, &device, deviceNumber) < 0) {
printf("Could not open device\n");
freenect_shutdown(contex);
return 1;
}
freenect_set_audio_in_callback(device, callback);
freenect_start_audio(device);
signal(SIGINT, cleanup);
audioPublisher = ros::NodeHandle().advertise<kinect_audio::audio>("audio", 10);
while(!die && freenect_process_events(contex) >= 0) {
// If we did anything else, it might go here.
// Alternately, we might split off another thread
// to do this loop while the main thread did something
// interesting.
}
freenect_shutdown(contex);
return 0;
}
int audio_setup(){
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return -1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_INFO);
freenect_select_subdevices(f_ctx, FREENECT_DEVICE_AUDIO);
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
if (nr_devices < 1)
return -1;
int user_device_number = 0;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
return 1;
}
freenect_set_audio_in_callback(f_dev, in_callback);
freenect_start_audio(f_dev);
return 0;
}
int main(int argc, char** argv) {
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_INFO);
freenect_select_subdevices(f_ctx, FREENECT_DEVICE_AUDIO);
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
if (nr_devices < 1) {
freenect_shutdown(f_ctx);
return 1;
}
int user_device_number = 0;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
freenect_shutdown(f_ctx);
return 1;
}
state.max_samples = 256 * 60;
state.current_idx = 0;
state.buffers[0] = (int32_t*)malloc(state.max_samples * sizeof(int32_t));
state.buffers[1] = (int32_t*)malloc(state.max_samples * sizeof(int32_t));
state.buffers[2] = (int32_t*)malloc(state.max_samples * sizeof(int32_t));
state.buffers[3] = (int32_t*)malloc(state.max_samples * sizeof(int32_t));
memset(state.buffers[0], 0, state.max_samples * sizeof(int32_t));
memset(state.buffers[1], 0, state.max_samples * sizeof(int32_t));
memset(state.buffers[2], 0, state.max_samples * sizeof(int32_t));
memset(state.buffers[3], 0, state.max_samples * sizeof(int32_t));
freenect_set_user(f_dev, &state);
freenect_set_audio_in_callback(f_dev, in_callback);
freenect_start_audio(f_dev);
int res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
if (res) {
printf("pthread_create failed\n");
freenect_shutdown(f_ctx);
return 1;
}
printf("This is the libfreenect microphone waveform viewer. Press 'q' to quit or spacebar to pause/unpause the view.\n");
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_ALPHA );
glutInitWindowSize(800, 600);
glutInitWindowPosition(0, 0);
window = glutCreateWindow("Microphones");
glClearColor(0.0, 0.0, 0.0, 0.0);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
Reshape(800, 600);
glutReshapeFunc(Reshape);
glutDisplayFunc(DrawMicData);
glutIdleFunc(DrawMicData);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return 0;
}
int main(int argc, char** argv) {
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_SPEW);
freenect_select_subdevices(f_ctx, FREENECT_DEVICE_AUDIO);
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
if (nr_devices < 1)
return 1;
int user_device_number = 0;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
return 1;
}
capture state;
state.logfiles[0] = fopen("channel1.wav", "wb");
state.logfiles[1] = fopen("channel2.wav", "wb");
state.logfiles[2] = fopen("channel3.wav", "wb");
state.logfiles[3] = fopen("channel4.wav", "wb");
fwrite(wavheader, 1, 44, state.logfiles[0]);
fwrite(wavheader, 1, 44, state.logfiles[1]);
fwrite(wavheader, 1, 44, state.logfiles[2]);
fwrite(wavheader, 1, 44, state.logfiles[3]);
freenect_set_user(f_dev, &state);
freenect_set_audio_in_callback(f_dev, in_callback);
freenect_start_audio(f_dev);
signal(SIGINT, cleanup);
while(!die && freenect_process_events(f_ctx) >= 0) {
// If we did anything else, it might go here.
// Alternately, we might split off another thread
// to do this loop while the main thread did something
// interesting.
}
// Make the WAV header valid for each of the four files
int i;
for(i = 0; i < 4 ; i++) {
char buf[4];
fseek(state.logfiles[i], 4, SEEK_SET);
// Write ChunkSize = 36 + subchunk2size
int chunksize = state.samples * 4 + 36;
buf[0] = (chunksize & 0x000000ff);
buf[1] = (chunksize & 0x0000ff00) >> 8;
buf[2] = (chunksize & 0x00ff0000) >> 16;
buf[3] = (chunksize & 0xff000000) >> 24;
fwrite(buf, 1, 4,state.logfiles[i]);
fseek(state.logfiles[i], 40, SEEK_SET);
// Write Subchunk2Size = NumSamples * NumChannels (1) * BitsPerSample/8 (4)
int subchunk2size = state.samples * 4;
buf[0] = (subchunk2size & 0x000000ff);
buf[1] = (subchunk2size & 0x0000ff00) >> 8;
buf[2] = (subchunk2size & 0x00ff0000) >> 16;
buf[3] = (subchunk2size & 0xff000000) >> 24;
fwrite(buf, 1, 4,state.logfiles[i]);
fclose(state.logfiles[i]);
}
return 0;
}
