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