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#include "Freenect.h"
#include <string.h>
#include <QDebug>
Freenect::Freenect()
: context(NULL)
, device(NULL)
, tiltAngle(0)
{
}
Freenect::~Freenect()
{
if (device != NULL)
{
freenect_stop_depth(device);
freenect_stop_rgb(device);
}
freenect_close_device(device);
freenect_shutdown(context);
}
bool
Freenect::init(int userDeviceNumber)
{
if (freenect_init(&context, NULL) < 0)
{
return false;
}
freenect_set_log_level(context, FREENECT_LOG_DEBUG);
if (freenect_num_devices(context) < 1)
{
return false;
}
if (freenect_open_device(context, &device, userDeviceNumber) < 0)
{
return false;
}
freenect_set_user(device, this);
memset(rgb, 0, FREENECT_RGB_SIZE);
memset(depth, 0, FREENECT_DEPTH_SIZE);
// set Kinect parameters
if (freenect_set_tilt_degs(device, tiltAngle) != 0)
{
return false;
}
if (freenect_set_led(device, LED_RED) != 0)
{
return false;
}
if (freenect_set_rgb_format(device, FREENECT_FORMAT_RGB) != 0)
{
return false;
}
if (freenect_set_depth_format(device, FREENECT_FORMAT_11_BIT) != 0)
{
return false;
}
freenect_set_rgb_callback(device, rgbCallback);
freenect_set_depth_callback(device, depthCallback);
if (freenect_start_rgb(device) != 0)
{
return false;
}
if (freenect_start_depth(device) != 0)
{
return false;
}
thread.reset(new FreenectThread(device));
thread->start();
return true;
}
bool
Freenect::process(void)
{
if (freenect_process_events(context) < 0)
{
return false;
}
freenect_get_raw_accel(device, &ax, &ay, &az);
freenect_get_mks_accel(device, &dx, &dy, &dz);
return true;
}
QSharedPointer<QByteArray>
Freenect::getRgbData(void)
{
QMutexLocker locker(&rgbMutex);
return QSharedPointer<QByteArray>(new QByteArray(rgb, FREENECT_RGB_SIZE));
}
QSharedPointer<QByteArray>
Freenect::getDepthData(void)
{
QMutexLocker locker(&depthMutex);
return QSharedPointer<QByteArray>(new QByteArray(depth, FREENECT_DEPTH_SIZE));
}
int
Freenect::getTiltAngle(void) const
{
return tiltAngle;
}
void
Freenect::setTiltAngle(int angle)
{
if (angle > 30)
{
angle = 30;
}
if (angle < -30)
{
angle = -30;
}
tiltAngle = angle;
}
Freenect::FreenectThread::FreenectThread(freenect_device* _device)
{
device = _device;
}
void
Freenect::FreenectThread::run(void)
{
Freenect* freenect = static_cast<Freenect *>(freenect_get_user(device));
while (1)
{
freenect->process();
}
}
void
Freenect::rgbCallback(freenect_device* device, freenect_pixel* rgb,
unsigned int timestamp)
{
Freenect* freenect = static_cast<Freenect *>(freenect_get_user(device));
QMutexLocker locker(&freenect->rgbMutex);
memcpy(freenect->rgb, rgb, FREENECT_RGB_SIZE);
}
void
Freenect::depthCallback(freenect_device* device, void* depth,
unsigned int timestamp)
{
Freenect* freenect = static_cast<Freenect *>(freenect_get_user(device));
freenect_depth* data = reinterpret_cast<freenect_depth *>(depth);
QMutexLocker locker(&freenect->depthMutex);
memcpy(freenect->depth, data, FREENECT_DEPTH_SIZE);
}