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1 #include <stdio.h>
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2 #include <pthread.h>
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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 stop_kinect(*kin_ctx, *kin_dev);
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37 fprintf(stderr, "Failed to set kinect LED\n");
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38 return false;
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39 }
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40
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41 init_frame_mx();
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42
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43 freenect_set_video_callback(*kin_dev, video_cb);
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44 freenect_set_depth_callback(*kin_dev, depth_cb);
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45
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46 if(freenect_set_video_mode(*kin_dev,
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47 freenect_find_video_mode(kin_params->video_res,
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48 kin_params->video_format)) < 0) {
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49 stop_kinect(*kin_ctx, *kin_dev);
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50 fprintf(stderr, "Failed to set kinect video mode.\n");
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51 return false;
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52 }
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53
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54 if(freenect_set_depth_mode(*kin_dev,
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55 freenect_find_depth_mode(kin_params->depth_res,
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56 kin_params->depth_format)) < 0) {
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57 stop_kinect(*kin_ctx, *kin_dev);
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58 fprintf(stderr, "Failed to set kinect depth mode.\n");
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59 return false;
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60 }
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61
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62 if(freenect_start_video(*kin_dev) < 0) {
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63 fprintf(stderr, "Failed to start kinect video.\n");
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64 return false;
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65 }
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66
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67 if(freenect_start_depth(*kin_dev) < 0) {
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68 fprintf(stderr, "Failed to start kinect depth video.\n");
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69 return false;
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70 }
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71
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72 return true;
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73 }
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74
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75 void stop_kinect(freenect_context *kin_ctx, freenect_device *kin_dev)
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76 {
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77 freenect_set_led(kin_dev, LED_OFF);
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78
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79 freenect_stop_depth(kin_dev);
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80 freenect_stop_video(kin_dev);
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81 freenect_close_device(kin_dev);
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82 freenect_shutdown(kin_ctx);
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83 }
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