Exemplo n.º 1
0
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;
}
Exemplo n.º 2
0
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;
}
Exemplo n.º 3
0
/** \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;
}
Exemplo n.º 4
0
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;
}
Exemplo n.º 5
0
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;
}
Exemplo n.º 6
0
		void stopRGB() {
			if(freenect_stop_rgb(m_dev) != 0) throw std::runtime_error("Cannot stop RGB callback");
		}