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Valentin Platzgummer
qgroundcontrol
Commits
adcd361d
Commit
adcd361d
authored
Dec 06, 2010
by
hengli
Browse files
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Plain Diff
Changed code in order to compile with latest libfreenect release.
parent
fc71fe94
Changes
2
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2 changed files
with
23 additions
and
27 deletions
+23
-27
Freenect.cc
src/input/Freenect.cc
+19
-23
Freenect.h
src/input/Freenect.h
+4
-4
No files found.
src/input/Freenect.cc
View file @
adcd361d
...
...
@@ -106,7 +106,7 @@ Freenect::~Freenect()
if
(
device
!=
NULL
)
{
freenect_stop_depth
(
device
);
freenect_stop_
rgb
(
device
);
freenect_stop_
video
(
device
);
}
freenect_close_device
(
device
);
...
...
@@ -136,8 +136,8 @@ Freenect::init(int userDeviceNumber)
freenect_set_user
(
device
,
this
);
memset
(
rgb
,
0
,
FREENECT_RGB_SIZE
);
memset
(
depth
,
0
,
FREENECT_DEPTH_SIZE
);
memset
(
rgb
,
0
,
FREENECT_
VIDEO_
RGB_SIZE
);
memset
(
depth
,
0
,
FREENECT_DEPTH_
11BIT_
SIZE
);
// set Kinect parameters
if
(
freenect_set_tilt_degs
(
device
,
tiltAngle
)
!=
0
)
...
...
@@ -148,22 +148,22 @@ Freenect::init(int userDeviceNumber)
{
return
false
;
}
if
(
freenect_set_
rgb_format
(
device
,
FREENECT_FORMAT
_RGB
)
!=
0
)
if
(
freenect_set_
video_format
(
device
,
FREENECT_VIDEO
_RGB
)
!=
0
)
{
return
false
;
}
if
(
freenect_set_depth_format
(
device
,
FREENECT_
FORMAT_11_
BIT
)
!=
0
)
if
(
freenect_set_depth_format
(
device
,
FREENECT_
DEPTH_11
BIT
)
!=
0
)
{
return
false
;
}
freenect_set_
rgb_callback
(
device
,
rgb
Callback
);
freenect_set_
video_callback
(
device
,
video
Callback
);
freenect_set_depth_callback
(
device
,
depthCallback
);
if
(
freenect_start_
rgb
(
device
)
!=
0
)
if
(
freenect_start_
depth
(
device
)
!=
0
)
{
return
false
;
}
if
(
freenect_start_
depth
(
device
)
!=
0
)
if
(
freenect_start_
video
(
device
)
!=
0
)
{
return
false
;
}
...
...
@@ -182,14 +182,10 @@ Freenect::process(void)
return
false
;
}
//libfreenect changed some access functions in one of the new revisions
freenect_raw_device_state
state
;
freenect_get_mks_accel
(
&
state
,
&
ax
,
&
ay
,
&
az
);
//tiltAngle = freenect_get_tilt_degs(&state);
//these are the old access functions
//freenect_get_raw_accel(device, &ax, &ay, &az);
//freenect_get_mks_accel(device, &dx, &dy, &dz);
freenect_raw_tilt_state
*
state
;
freenect_update_tilt_state
(
device
);
state
=
freenect_get_tilt_state
(
device
);
freenect_get_mks_accel
(
state
,
&
ax
,
&
ay
,
&
az
);
return
true
;
}
...
...
@@ -199,7 +195,7 @@ Freenect::getRgbData(void)
{
QMutexLocker
locker
(
&
rgbMutex
);
return
QSharedPointer
<
QByteArray
>
(
new
QByteArray
(
rgb
,
FREENECT_RGB_SIZE
));
new
QByteArray
(
rgb
,
FREENECT_
VIDEO_
RGB_SIZE
));
}
QSharedPointer
<
QByteArray
>
...
...
@@ -207,7 +203,7 @@ Freenect::getRawDepthData(void)
{
QMutexLocker
locker
(
&
depthMutex
);
return
QSharedPointer
<
QByteArray
>
(
new
QByteArray
(
depth
,
FREENECT_DEPTH_SIZE
));
new
QByteArray
(
depth
,
FREENECT_DEPTH_
11BIT_
SIZE
));
}
QSharedPointer
<
QByteArray
>
...
...
@@ -215,7 +211,7 @@ Freenect::getColoredDepthData(void)
{
QMutexLocker
locker
(
&
coloredDepthMutex
);
return
QSharedPointer
<
QByteArray
>
(
new
QByteArray
(
coloredDepth
,
FREENECT_RGB_SIZE
));
new
QByteArray
(
coloredDepth
,
FREENECT_
VIDEO_
RGB_SIZE
));
}
QVector
<
QVector3D
>
...
...
@@ -386,22 +382,22 @@ Freenect::projectPixelTo3DRay(const QVector2D& pixel, QVector3D& ray,
}
void
Freenect
::
rgbCallback
(
freenect_device
*
device
,
freenect_pixel
*
rgb
,
uint32_t
timestamp
)
Freenect
::
videoCallback
(
freenect_device
*
device
,
void
*
video
,
uint32_t
timestamp
)
{
Freenect
*
freenect
=
static_cast
<
Freenect
*>
(
freenect_get_user
(
device
));
QMutexLocker
locker
(
&
freenect
->
rgbMutex
);
memcpy
(
freenect
->
rgb
,
rgb
,
FREENECT
_RGB_SIZE
);
memcpy
(
freenect
->
rgb
,
video
,
FREENECT_VIDEO
_RGB_SIZE
);
}
void
Freenect
::
depthCallback
(
freenect_device
*
device
,
void
*
depth
,
uint32_t
timestamp
)
{
Freenect
*
freenect
=
static_cast
<
Freenect
*>
(
freenect_get_user
(
device
));
freenect_depth
*
data
=
reinterpret_cast
<
freenect_depth
*>
(
depth
);
uint16_t
*
data
=
reinterpret_cast
<
uint16_t
*>
(
depth
);
QMutexLocker
depthLocker
(
&
freenect
->
depthMutex
);
memcpy
(
freenect
->
depth
,
data
,
FREENECT_DEPTH_SIZE
);
memcpy
(
freenect
->
depth
,
data
,
FREENECT_DEPTH_
11BIT_
SIZE
);
QMutexLocker
coloredDepthLocker
(
&
freenect
->
coloredDepthMutex
);
unsigned
short
*
src
=
reinterpret_cast
<
unsigned
short
*>
(
data
);
...
...
src/input/Freenect.h
View file @
adcd361d
...
...
@@ -95,7 +95,7 @@ private:
void
projectPixelTo3DRay
(
const
QVector2D
&
pixel
,
QVector3D
&
ray
,
const
IntrinsicCameraParameters
&
params
);
static
void
rgbCallback
(
freenect_device
*
device
,
freenect_pixel
*
rgb
,
uint32_t
timestamp
);
static
void
videoCallback
(
freenect_device
*
device
,
void
*
video
,
uint32_t
timestamp
);
static
void
depthCallback
(
freenect_device
*
device
,
void
*
depth
,
uint32_t
timestamp
);
freenect_context
*
context
;
...
...
@@ -122,13 +122,13 @@ private:
int
tiltAngle
;
// rgbd data
char
rgb
[
FREENECT_RGB_SIZE
];
char
rgb
[
FREENECT_
VIDEO_
RGB_SIZE
];
QMutex
rgbMutex
;
char
depth
[
FREENECT_DEPTH_SIZE
];
char
depth
[
FREENECT_DEPTH_
11BIT_
SIZE
];
QMutex
depthMutex
;
char
coloredDepth
[
FREENECT_RGB_SIZE
];
char
coloredDepth
[
FREENECT_
VIDEO_
RGB_SIZE
];
QMutex
coloredDepthMutex
;
// accelerometer data
...
...
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