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1 #include <stdio.h>
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2 #include <pthread.h>
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eleni@0
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3 #include <libfreenect.h>
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4
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5 #include "kinect.h"
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6 #include "frame.h"
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7
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8 bool init_kinect(freenect_context **kin_ctx, freenect_device **kin_dev, KinectParams *kin_params)
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9 {
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10 if(freenect_init(kin_ctx, NULL) < 0) {
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11 fprintf(stderr, "Failed to initialize kinect context.\n");
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12 return false;
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13 }
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14
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15 freenect_set_log_level(*kin_ctx, FREENECT_LOG_INFO);
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16
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17 int num_dev = freenect_num_devices(*kin_ctx);
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18 if(num_dev < 1) {
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19 fprintf(stderr, "Kinect device not found.\n");
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20 return false;
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21 }
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22 printf("%d devices found, will use the first.\n", num_dev);
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23
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24 if(freenect_open_device(*kin_ctx, kin_dev, 0) < 0) {
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25 fprintf(stderr, "Couldn't open kinect device.\n");
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26 return false;
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27 }
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28
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29 if(freenect_set_tilt_degs(*kin_dev, kin_params->angle) < 0) {
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30 stop_kinect(*kin_ctx, *kin_dev);
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31 fprintf(stderr, "Failed to set kinect angle\n");
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32 return false;
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33 }
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34
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35 if(freenect_set_led(*kin_dev, kin_params->led_color) < 0) {
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36 fprintf(stderr, "Failed to set kinect LED\n");
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37 stop_kinect(*kin_ctx, *kin_dev);
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38 return false;
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39 }
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40
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41 return true;
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42 }
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43
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44 bool init_kinect_frames(freenect_context **kin_ctx, freenect_device **kin_dev,
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45 KinectParams *kin_params) {
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46
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47 freenect_set_video_callback(*kin_dev, video_cb);
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48 freenect_set_depth_callback(*kin_dev, depth_cb);
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49
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50 if(freenect_set_video_mode(*kin_dev,
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51 freenect_find_video_mode(kin_params->video_res,
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52 kin_params->video_format)) < 0) {
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53 fprintf(stderr, "Failed to set kinect video mode.\n");
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54 return false;
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55 }
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56
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57 if(freenect_set_depth_mode(*kin_dev,
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58 freenect_find_depth_mode(kin_params->depth_res,
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59 kin_params->depth_format)) < 0) {
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60 fprintf(stderr, "Failed to set kinect depth mode.\n");
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61 return false;
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62 }
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63
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64 if(freenect_start_video(*kin_dev) < 0) {
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65 fprintf(stderr, "Failed to start kinect video.\n");
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66 return false;
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67 }
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68
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69 if(freenect_start_depth(*kin_dev) < 0) {
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70 fprintf(stderr, "Failed to start kinect depth video.\n");
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71 return false;
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72 }
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73
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74 return true;
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75 }
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76
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77 void stop_kinect_video_frames(freenect_device *kin_dev)
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78 {
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79 freenect_stop_video(kin_dev);
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80 }
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81
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82 void stop_kinect_depth_frames(freenect_device *kin_dev)
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83 {
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84 freenect_stop_depth(kin_dev);
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85 }
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86
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87 void stop_kinect_frames(freenect_device *kin_dev)
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88 {
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89 stop_kinect_video_frames(kin_dev);
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90 stop_kinect_depth_frames(kin_dev);
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91 }
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92
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93 void stop_kinect(freenect_context *kin_ctx, freenect_device *kin_dev)
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94 {
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95 freenect_set_led(kin_dev, LED_OFF);
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96 freenect_close_device(kin_dev);
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97 freenect_shutdown(kin_ctx);
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98 }
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