eleni@0: #include <stdio.h>
eleni@0: #include <pthread.h>
eleni@0: #include <libfreenect.h>
eleni@1: 
eleni@0: #include "kinect.h"
eleni@1: #include "frame.h"
eleni@0: 
eleni@5: KinectParams::KinectParams()
eleni@5: {
eleni@7: 	angle = 10;
eleni@5: 
eleni@7: 	video_width = KINECT_VIDEO_WIDTH;
eleni@7: 	video_height = KINECT_VIDEO_HEIGHT;
eleni@7: 	depth_width = KINECT_DEPTH_WIDTH;
eleni@7: 	depth_height = KINECT_DEPTH_HEIGHT;
eleni@5: 
eleni@7: 	led_color = LED_RED;
eleni@7: 	video_format = FREENECT_VIDEO_RGB;
eleni@7: 	depth_format = FREENECT_DEPTH_11BIT;
eleni@7: 	video_res = FREENECT_RESOLUTION_MEDIUM;
eleni@7: 	depth_res = FREENECT_RESOLUTION_MEDIUM;
eleni@5: }
eleni@5: 
eleni@0: bool init_kinect(freenect_context **kin_ctx, freenect_device **kin_dev, KinectParams *kin_params)
eleni@0: {
eleni@0: 	if(freenect_init(kin_ctx, NULL) < 0) {
eleni@0: 		fprintf(stderr, "Failed to initialize kinect context.\n");
eleni@0: 		return false;
eleni@0: 	}
eleni@0: 
eleni@0: 	freenect_set_log_level(*kin_ctx, FREENECT_LOG_INFO);
eleni@0: 
eleni@0: 	int num_dev = freenect_num_devices(*kin_ctx);
eleni@0: 	if(num_dev < 1) {
eleni@0: 		fprintf(stderr, "Kinect device not found.\n");
eleni@0: 		return false;
eleni@0: 	}
eleni@0: 	printf("%d devices found, will use the first.\n", num_dev);
eleni@0: 
eleni@0: 	if(freenect_open_device(*kin_ctx, kin_dev, 0) < 0) {
eleni@0: 		fprintf(stderr, "Couldn't open kinect device.\n");
eleni@0: 		return false;
eleni@0: 	}
eleni@0: 
eleni@13: /*	if(freenect_set_tilt_degs(*kin_dev, kin_params->angle) < 0) {
eleni@0: 		stop_kinect(*kin_ctx, *kin_dev);
eleni@0: 		fprintf(stderr, "Failed to set kinect angle\n");
eleni@0: 		return false;
eleni@0: 	}
eleni@13: */
eleni@0: 	if(freenect_set_led(*kin_dev, kin_params->led_color) < 0) {
eleni@2: 		fprintf(stderr, "Failed to set kinect LED\n");
eleni@0: 		stop_kinect(*kin_ctx, *kin_dev);
eleni@0: 		return false;
eleni@0: 	}
eleni@0: 
eleni@2: 	return true;
eleni@2: }
eleni@2: 
eleni@7: bool init_kinect_frames(freenect_context *kin_ctx, freenect_device *kin_dev,
eleni@2: 		KinectParams *kin_params) {
eleni@0: 
eleni@7: 	freenect_set_video_callback(kin_dev, video_cb);
eleni@7: 	freenect_set_depth_callback(kin_dev, depth_cb);
eleni@0: 
eleni@7: 	if(freenect_set_video_mode(kin_dev,
eleni@0: 			freenect_find_video_mode(kin_params->video_res,
eleni@0: 				kin_params->video_format)) < 0) {
eleni@0: 		fprintf(stderr, "Failed to set kinect video mode.\n");
eleni@0: 		return false;
eleni@0: 	}
eleni@0: 
eleni@7: 	if(freenect_set_depth_mode(kin_dev,
eleni@0: 				freenect_find_depth_mode(kin_params->depth_res,
eleni@0: 					kin_params->depth_format)) < 0) {
eleni@0: 		fprintf(stderr, "Failed to set kinect depth mode.\n");
eleni@0: 		return false;
eleni@0: 	}
eleni@0: 
eleni@7: 	if(freenect_start_video(kin_dev) < 0) {
eleni@0: 		fprintf(stderr, "Failed to start kinect video.\n");
eleni@0: 		return false;
eleni@0: 	}
eleni@0: 
eleni@7: 	if(freenect_start_depth(kin_dev) < 0) {
eleni@0: 		fprintf(stderr, "Failed to start kinect depth video.\n");
eleni@0: 		return false;
eleni@0: 	}
eleni@0: 
eleni@0: 	return true;
eleni@0: }
eleni@0: 
eleni@2: void stop_kinect_video_frames(freenect_device *kin_dev)
eleni@2: {
eleni@2: 	freenect_stop_video(kin_dev);
eleni@2: }
eleni@2: 
eleni@2: void stop_kinect_depth_frames(freenect_device *kin_dev)
eleni@2: {
eleni@2: 	freenect_stop_depth(kin_dev);
eleni@2: }
eleni@2: 
eleni@2: void stop_kinect_frames(freenect_device *kin_dev)
eleni@2: {
eleni@2: 	stop_kinect_video_frames(kin_dev);
eleni@2: 	stop_kinect_depth_frames(kin_dev);
eleni@2: }
eleni@2: 
eleni@0: void stop_kinect(freenect_context *kin_ctx, freenect_device *kin_dev)
eleni@0: {
eleni@0: 	freenect_set_led(kin_dev, LED_OFF);
eleni@0: 	freenect_close_device(kin_dev);
eleni@0: 	freenect_shutdown(kin_ctx);
eleni@0: }