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 *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 KinectInterface::startDepth()
{
if(freenect_start_depth(m_dev) < 0)
{
throw std::runtime_error("Cannot start 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";
}
/*
* Class: org_ensor_robots_sensors_kinect_Device
* Method: nativeStartDepth
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_org_ensor_robots_sensors_kinect_Device_nativeStartDepth
(JNIEnv *aJNIEnv, jobject aThisObject, jint aDeviceId)
{
pthread_mutex_lock(&mutex);
freenect_set_depth_mode(f_devices[aDeviceId].f_dev,
freenect_find_depth_mode(
FREENECT_RESOLUTION_MEDIUM,
FREENECT_DEPTH_11BIT
)
);
f_devices[aDeviceId].depthbuffersize = 640 * 480 * 2;
f_devices[aDeviceId].f_depth_buffer = malloc(f_devices[aDeviceId].depthbuffersize);
freenect_set_depth_buffer(
f_devices[aDeviceId].f_dev,
f_devices[aDeviceId].f_depth_buffer
);
f_devices[aDeviceId].depthbuffervalue =
(*aJNIEnv)->NewBooleanArray(aJNIEnv, f_devices[aDeviceId].depthbuffersize);
f_devices[aDeviceId].depthbuffervalue = (*aJNIEnv)->NewGlobalRef(aJNIEnv,
f_devices[aDeviceId].depthbuffervalue
);
freenect_set_depth_callback(f_devices[aDeviceId].f_dev, depth_cb);
pthread_mutex_unlock(&mutex);
freenect_start_depth(f_devices[aDeviceId].f_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 start()
{
boost::thread encoderThread = boost::thread(&Encoder::encode, p);
freenect_start_depth(f_dev);
while (!die && freenect_process_events(f_ctx) >= 0) {
usleep(1000);
}
}
void KntStart(kntCtx_t * ctx) {
freenect_start_depth(ctx->dev);
freenect_start_video(ctx->dev);
ctx->isRunning = 1;
pthread_create(&ctx->thread, NULL, KntHandleData, ctx);
}
//---------------------------------------------------------------------------
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 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);
}
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;
}
/** \brief Start (resume) the data acquisition process. */
void
KinectDriver::start ()
{
freenect_start_depth (f_dev_);
if (config_.color_format == FREENECT_FORMAT_IR)
freenect_start_ir (f_dev_);
else
freenect_start_rgb (f_dev_);
started_ = true;
}
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 *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;
}
//---------------------------------------------------------------------------
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");
}
int initFreenect() {
// int res = 0;
//setup Freenect...
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_ERROR);
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
int user_device_number = 0;
// if (argc > 1)
// user_device_number = atoi(argv[1]);
//
// if (nr_devices < 1)
// return 1;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
return 1;
}
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_video_callback(f_dev, rgb_cb);
freenect_set_video_format(f_dev, FREENECT_VIDEO_RGB);
freenect_set_depth_format(f_dev, FREENECT_DEPTH_11BIT);
freenect_start_depth(f_dev);
freenect_start_video(f_dev);
//start the freenect thread to poll for events
// res = pthread_create(&ocv_thread, NULL, freenect_threadfunc, NULL);
// if (res) {
// printf("pthread_create failed\n");
// return 1;
// }
return 0;
}
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
SS_SimMode mode= ssGetSimMode(S);
if(mode==0)
{
kinFail=0;
kinRunning=1;
newFrame=0;
//change
memset (kinR,'1',307200);
memset (kinG,'1',307200);
memset (kinB,'1',307200);
memset (kinD,'1',307200);
/*-----INIT---------------*/
if (freenect_init(&kinCtx, 0)) {
printf("Error: Cannot get context\n");
kinFail=1;
return;
}
if (freenect_open_device(kinCtx, &kinDev, 0)) {
printf("Error: Cannot get device\n");
kinFail=1;
return;
}
freenect_set_depth_format(kinDev, FREENECT_DEPTH_11BIT);
freenect_start_depth(kinDev);
//change
freenect_set_video_format(kinDev, FREENECT_VIDEO_YUV_RGB);
freenect_start_video(kinDev);
freenect_set_depth_callback(kinDev, depth_cb);
freenect_set_video_callback(kinDev, rgb_cb);
/*-----END INIT------------*/
pthread_create( &kinThread, NULL, runLoop, NULL);
}
}
int KinectFreenect::start() {
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
int nr_devices = freenect_num_devices(f_ctx);
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_led(f_dev, LED_RED);
freenect_set_depth_callback(f_dev, KinectFreenect::depth_cb);
freenect_set_video_callback(f_dev, KinectFreenect::rgb_cb);
freenect_set_video_mode(f_dev, freenect_find_video_mode(current_resolution, current_format));
freenect_set_depth_mode(f_dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT));
freenect_start_depth(f_dev);
freenect_start_video(f_dev);
int res;
res = pthread_create(&fnkt_thread, NULL, freenect_threadfunc, NULL);
if (res) {
printf("pthread_create failed\n");
return 1;
}
int status = 0;
while (!die && status >= 0) {
char k = cvWaitKey(5);
if( k == 27 ) {
die = 1;
break;
}
}
return 0;
}
// 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;
}
//---------------------------------------------------------------------------
void ofxKinect::threadedFunction(){
if (freenect_init(&kinectContext, NULL) < 0) {
ofLog(OF_LOG_ERROR, "ofxKinect: freenet_init failed");
}
int number_devices = freenect_num_devices(kinectContext);
ofLog(OF_LOG_VERBOSE, "ofxKinect: Number of Devices found: " + ofToString(number_devices));
if (number_devices < 1) {
ofLog(OF_LOG_ERROR, "ofxKinect: didnt find a device");
return;
}
if (freenect_open_device(kinectContext, &kinectDevice, 0) < 0) {
ofLog(OF_LOG_ERROR, "ofxKinect: could not open device");
return;
}
freenect_set_led(kinectDevice, LED_GREEN);
freenect_set_depth_callback(kinectDevice, &grabDepthFrame);
freenect_set_rgb_callback(kinectDevice, &grabRgbFrame);
freenect_set_rgb_format(kinectDevice, FREENECT_FORMAT_RGB);
freenect_set_depth_format(kinectDevice, FREENECT_FORMAT_11_BIT);
ofLog(OF_LOG_VERBOSE, "ofxKinect: Connection opened");
freenect_start_depth(kinectDevice);
freenect_start_rgb(kinectDevice);
while (isThreadRunning()) {
int16_t ax,ay,az;
freenect_get_raw_accelerometers(kinectDevice, &ax, &ay, &az);
rawAccel.set(ax, ay, az);
double dx,dy,dz;
freenect_get_mks_accelerometers(kinectDevice, &dx, &dy, &dz);
mksAccel.set(dx, dy, dz);
// printf("\r raw acceleration: %4d %4d %4d mks acceleration: %4f %4f %4f", ax, ay, az, dx, dy, dz);
}
}
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);
}
void *network_depth(void *arg)
{
int childlen;
struct sockaddr_in childaddr;
childlen = sizeof(childaddr);
while ( !die )
{
printf("### Wait depth client\n");
depth_child = accept(s_depth, (struct sockaddr *)&childaddr, (unsigned int *)&childlen);
if ( network_depth < 0 )
{
fprintf(stderr, "Error on accept() for depth, exit depth thread.\n");
break;
}
printf("### Got depth client\n");
send_policy_file(depth_child);
depth_connected = 1;
freenect_start_depth(f_dev);
}
return NULL;
}
void* f_threadfunc( void *arg )
{
freenect_set_tilt_degs( f_device, f_angle );
freenect_set_led( f_device, LED_RED );
freenect_set_depth_callback( f_device, depth_cb );
freenect_set_video_callback(f_device, rgb_cb);
if( (W == 640) && H ==( 480 ))
{
freenect_set_video_mode( f_device, freenect_find_video_mode( FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB ) );
printf("Resolution:%d:%d\n",W,H);
fflush(stdout);
}
else
if(( W == 1280) &&( H == 1024) )
{
freenect_set_video_mode( f_device, freenect_find_video_mode( FREENECT_RESOLUTION_HIGH, FREENECT_VIDEO_RGB ) );
printf("Resolution:%d:%d\n",W,H);
fflush(stdout);
}
else
{
printf("Unknown resolution. Shutting down...\n");
CloseAll();
}
freenect_set_depth_mode( f_device, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT) );
freenect_start_video( f_device );
freenect_start_depth( f_device );
while ( !shutdown && freenect_process_events( f_context ) >= 0 )
{
}
CloseAll();
printf( "Done. Shutting down...\n" );
fflush(stdout);
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 )
{
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;
}
void FreenectGrabber :: startKinect()
{
freenect_start_depth(f_dev);
setIRMode(m_ir_mode);
}
