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annotate src/kinect.cc @ 7:4f1b8ddcd32e

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minor fixes
author Eleni Maria Stea <eleni@mutantstargoat.com>
date Sun, 03 Nov 2013 21:58:56 +0200
parents 700127288dc5
children 65fd6d7c42b1
rev   line source
eleni@0 1 #include <stdio.h>
eleni@0 2 #include <pthread.h>
eleni@0 3 #include <libfreenect.h>
eleni@1 4
eleni@0 5 #include "kinect.h"
eleni@1 6 #include "frame.h"
eleni@0 7
eleni@5 8 KinectParams::KinectParams()
eleni@5 9 {
eleni@7 10 angle = 10;
eleni@5 11
eleni@7 12 video_width = KINECT_VIDEO_WIDTH;
eleni@7 13 video_height = KINECT_VIDEO_HEIGHT;
eleni@7 14 depth_width = KINECT_DEPTH_WIDTH;
eleni@7 15 depth_height = KINECT_DEPTH_HEIGHT;
eleni@5 16
eleni@7 17 led_color = LED_RED;
eleni@7 18 video_format = FREENECT_VIDEO_RGB;
eleni@7 19 depth_format = FREENECT_DEPTH_11BIT;
eleni@7 20 video_res = FREENECT_RESOLUTION_MEDIUM;
eleni@7 21 depth_res = FREENECT_RESOLUTION_MEDIUM;
eleni@5 22 }
eleni@5 23
eleni@0 24 bool init_kinect(freenect_context **kin_ctx, freenect_device **kin_dev, KinectParams *kin_params)
eleni@0 25 {
eleni@0 26 if(freenect_init(kin_ctx, NULL) < 0) {
eleni@0 27 fprintf(stderr, "Failed to initialize kinect context.\n");
eleni@0 28 return false;
eleni@0 29 }
eleni@0 30
eleni@0 31 freenect_set_log_level(*kin_ctx, FREENECT_LOG_INFO);
eleni@0 32
eleni@0 33 int num_dev = freenect_num_devices(*kin_ctx);
eleni@0 34 if(num_dev < 1) {
eleni@0 35 fprintf(stderr, "Kinect device not found.\n");
eleni@0 36 return false;
eleni@0 37 }
eleni@0 38 printf("%d devices found, will use the first.\n", num_dev);
eleni@0 39
eleni@0 40 if(freenect_open_device(*kin_ctx, kin_dev, 0) < 0) {
eleni@0 41 fprintf(stderr, "Couldn't open kinect device.\n");
eleni@0 42 return false;
eleni@0 43 }
eleni@0 44
eleni@0 45 if(freenect_set_tilt_degs(*kin_dev, kin_params->angle) < 0) {
eleni@0 46 stop_kinect(*kin_ctx, *kin_dev);
eleni@0 47 fprintf(stderr, "Failed to set kinect angle\n");
eleni@0 48 return false;
eleni@0 49 }
eleni@0 50
eleni@0 51 if(freenect_set_led(*kin_dev, kin_params->led_color) < 0) {
eleni@2 52 fprintf(stderr, "Failed to set kinect LED\n");
eleni@0 53 stop_kinect(*kin_ctx, *kin_dev);
eleni@0 54 return false;
eleni@0 55 }
eleni@0 56
eleni@2 57 return true;
eleni@2 58 }
eleni@2 59
eleni@7 60 bool init_kinect_frames(freenect_context *kin_ctx, freenect_device *kin_dev,
eleni@2 61 KinectParams *kin_params) {
eleni@0 62
eleni@7 63 freenect_set_video_callback(kin_dev, video_cb);
eleni@7 64 freenect_set_depth_callback(kin_dev, depth_cb);
eleni@0 65
eleni@7 66 if(freenect_set_video_mode(kin_dev,
eleni@0 67 freenect_find_video_mode(kin_params->video_res,
eleni@0 68 kin_params->video_format)) < 0) {
eleni@0 69 fprintf(stderr, "Failed to set kinect video mode.\n");
eleni@0 70 return false;
eleni@0 71 }
eleni@0 72
eleni@7 73 if(freenect_set_depth_mode(kin_dev,
eleni@0 74 freenect_find_depth_mode(kin_params->depth_res,
eleni@0 75 kin_params->depth_format)) < 0) {
eleni@0 76 fprintf(stderr, "Failed to set kinect depth mode.\n");
eleni@0 77 return false;
eleni@0 78 }
eleni@0 79
eleni@7 80 if(freenect_start_video(kin_dev) < 0) {
eleni@0 81 fprintf(stderr, "Failed to start kinect video.\n");
eleni@0 82 return false;
eleni@0 83 }
eleni@0 84
eleni@7 85 if(freenect_start_depth(kin_dev) < 0) {
eleni@0 86 fprintf(stderr, "Failed to start kinect depth video.\n");
eleni@0 87 return false;
eleni@0 88 }
eleni@0 89
eleni@0 90 return true;
eleni@0 91 }
eleni@0 92
eleni@2 93 void stop_kinect_video_frames(freenect_device *kin_dev)
eleni@2 94 {
eleni@2 95 freenect_stop_video(kin_dev);
eleni@2 96 }
eleni@2 97
eleni@2 98 void stop_kinect_depth_frames(freenect_device *kin_dev)
eleni@2 99 {
eleni@2 100 freenect_stop_depth(kin_dev);
eleni@2 101 }
eleni@2 102
eleni@2 103 void stop_kinect_frames(freenect_device *kin_dev)
eleni@2 104 {
eleni@2 105 stop_kinect_video_frames(kin_dev);
eleni@2 106 stop_kinect_depth_frames(kin_dev);
eleni@2 107 }
eleni@2 108
eleni@0 109 void stop_kinect(freenect_context *kin_ctx, freenect_device *kin_dev)
eleni@0 110 {
eleni@0 111 freenect_set_led(kin_dev, LED_OFF);
eleni@0 112 freenect_close_device(kin_dev);
eleni@0 113 freenect_shutdown(kin_ctx);
eleni@0 114 }