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;
}
/** \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;
}
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;
}
int freenect_close_device(freenect_device *dev)
{
freenect_context *ctx = dev->parent;
int res;
// stop streams, if active
freenect_stop_depth(dev);
freenect_stop_rgb(dev);
res = fnusb_close_subdevices(dev);
if (res < 0) {
FN_ERROR("fnusb_close_subdevices failed: %d\n", res);
return res;
}
freenect_device *last = NULL;
freenect_device *cur = ctx->first;
while (cur && cur != dev) {
last = cur;
cur = cur->next;
}
if (!cur) {
FN_ERROR("device %p not found in linked list for this context!\n", dev);
return -1;
}
if (last)
last->next = cur->next;
else
ctx->first = cur->next;
free(dev);
return 0;
}
void stopRGB() {
if(freenect_stop_rgb(m_dev) != 0) throw std::runtime_error("Cannot stop RGB callback");
}
