hornetseye-kinect 0.1.0 → 0.2.0
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- data/README.md +39 -0
- data/Rakefile +1 -1
- data/ext/kinectcontext.cc +57 -1
- data/ext/kinectcontext.hh +11 -0
- data/ext/kinectinput.cc +52 -32
- data/ext/kinectinput.hh +2 -2
- metadata +3 -3
data/README.md
CHANGED
@@ -58,3 +58,42 @@ You can load and use the libfreenect wrappers as shown below. This example demon
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end
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end
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+
Here is another example displaying RGB and the depth image while keeping the tilt angle at zero:
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require 'rubygems'
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require 'hornetseye_kinect'
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require 'hornetseye_xorg'
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include Hornetseye
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class Numeric
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def clip( range )
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[ [ self, range.begin ].max, range.end ].min
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end
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end
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colours = Sequence.ubytergb 256
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for i in 0...256
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hue = 240 - i * 240.0 / 256.0
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colours[i] =
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RGB( ( ( hue - 180 ).abs - 60 ).clip( 0...60 ) * 0xFF / 60.0,
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( 120 - ( hue - 120 ).abs ).clip( 0...60 ) * 0xFF / 60.0,
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( 120 - ( hue - 240 ).abs ).clip( 0...60 ) * 0xFF / 60.0 )
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end
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input = KinectInput.new
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display = X11Display.new
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output_depth, output_video = XImageOutput.new, XVideoOutput.new
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window_depth = X11Window.new display, output_depth, 640, 480
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window_video = X11Window.new display, output_video, 640, 480
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window_depth.title = 'Depth'
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window_video.title = 'Video'
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window_depth.show
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window_video.show
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input.led = KinectInput::LED_RED
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while display.status?
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input.tilt = 0.0
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input.get_state
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moving = input.tilt_status == KinectInput::TILT_STATUS_MOVING
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input.led = moving ? KinectInput::LED_RED : KinectInput::LED_GREEN
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output_video.write input.read_video
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output_depth.write( ( input.read_depth >> 3 ).lut colours )
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display.process_events
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end
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data/Rakefile
CHANGED
data/ext/kinectcontext.cc
CHANGED
@@ -26,7 +26,8 @@ using namespace std;
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VALUE KinectContext::cRubyClass = Qnil;
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KinectContext::KinectContext(void) throw (Error):
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-
m_context(NULL)
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m_context(NULL), m_mutex(PTHREAD_MUTEX_INITIALIZER), m_cond(PTHREAD_COND_INITIALIZER),
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m_instances(0)
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{
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freenect_init( &m_context, NULL );
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ERRORMACRO( m_context != NULL, Error, , "Initialisation of libfreenect failed" );
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@@ -37,9 +38,28 @@ KinectContext::~KinectContext(void)
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close();
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}
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void KinectContext::addInstance(void)
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{
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m_instances++;
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if ( m_instances == 1 ) {
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pthread_create( &m_thread, NULL, staticThreadFunc, this );
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};
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}
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void KinectContext::removeInstance(void)
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{
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m_instances--;
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if ( m_instances == 0 ) {
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pthread_cond_wait( &m_cond, &m_mutex );
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}
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}
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void KinectContext::close(void)
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{
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if ( m_context != NULL ) {
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pthread_join( m_thread, NULL );
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pthread_mutex_destroy( &m_mutex );
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pthread_cond_destroy( &m_cond );
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freenect_shutdown( m_context );
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m_context = NULL;
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};
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@@ -52,6 +72,21 @@ freenect_context *KinectContext::get(void) throw (Error)
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return m_context;
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}
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void KinectContext::lock(void)
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{
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pthread_mutex_lock( &m_mutex );
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}
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void KinectContext::wait(void)
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{
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processEvents();
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}
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void KinectContext::unlock(void)
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{
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pthread_mutex_unlock( &m_mutex );
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}
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void KinectContext::processEvents(void) throw (Error)
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{
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ERRORMACRO( freenect_process_events( m_context ) >= 0, Error, , "Error processing "
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@@ -65,6 +100,27 @@ string KinectContext::inspect(void) const
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return s.str();
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}
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void KinectContext::threadFunc(void)
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{
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bool quit = false;
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while ( !quit ) {
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lock();
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if ( m_instances > 0 )
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processEvents();
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else {
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pthread_cond_signal( &m_cond );
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quit = true;
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};
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unlock();
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};
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}
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void *KinectContext::staticThreadFunc( void *self )
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{
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((KinectContext *)self)->threadFunc();
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return self;
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}
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VALUE KinectContext::registerRubyClass( VALUE module )
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{
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cRubyClass = rb_define_class_under( module, "KinectContext", rb_cObject );
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data/ext/kinectcontext.hh
CHANGED
@@ -28,15 +28,26 @@ public:
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virtual ~KinectContext(void);
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std::string inspect(void) const;
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void close(void);
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void addInstance(void);
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void removeInstance(void);
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void processEvents(void) throw (Error);
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freenect_context *get(void) throw (Error);
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void lock(void);
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void wait(void);
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void unlock(void);
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static VALUE cRubyClass;
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static VALUE registerRubyClass( VALUE module );
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static void deleteRubyObject( void *ptr );
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static VALUE wrapNew( VALUE rbClass );
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static VALUE wrapClose( VALUE rbSelf );
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protected:
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void threadFunc(void);
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static void *staticThreadFunc( void *self );
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freenect_context *m_context;
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pthread_t m_thread;
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pthread_mutex_t m_mutex;
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pthread_cond_t m_cond;
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int m_instances;
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};
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typedef boost::shared_ptr< KinectContext > KinectContextPtr;
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data/ext/kinectinput.cc
CHANGED
@@ -25,13 +25,16 @@ KinectInput::KinectInput( KinectContextPtr context, int node ) throw (Error):
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m_context( context ), m_node( node ), m_device( NULL ), m_currentRGB(0), m_haveRGB(false),
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m_currentDepth(0), m_haveDepth(false)
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{
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-
m_rgb
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-
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memset( &m_rgb, 0, sizeof(m_rgb) ); memset( &m_depth, 0, sizeof(m_depth) );
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m_context->lock();
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if ( freenect_open_device( context->get(), &m_device, node ) < 0 ) {
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m_context->unlock();
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ERRORMACRO( false, Error, , "Failed to open Kinect device number " << node );
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};
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for ( int i=0; i<3; i++ ) {
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m_rgb[i] = (char *)malloc( FREENECT_VIDEO_RGB_SIZE );
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m_depth[i] = (char *)malloc( FREENECT_DEPTH_11BIT_SIZE );
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};
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instances[ m_device ] = this;
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freenect_set_depth_format( m_device, FREENECT_DEPTH_11BIT );
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freenect_set_video_format( m_device, FREENECT_VIDEO_RGB );
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@@ -41,6 +44,8 @@ KinectInput::KinectInput( KinectContextPtr context, int node ) throw (Error):
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freenect_set_video_callback( m_device, staticVideoCallBack );
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freenect_start_depth( m_device );
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freenect_start_video( m_device );
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m_context->addInstance();
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m_context->unlock();
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}
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KinectInput::~KinectInput(void)
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@@ -51,29 +56,26 @@ KinectInput::~KinectInput(void)
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void KinectInput::close(void)
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{
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if ( m_device != NULL ) {
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m_context->lock();
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freenect_stop_depth( m_device );
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freenect_stop_video( m_device );
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freenect_set_led( m_device, LED_BLINK_GREEN );
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freenect_close_device( m_device );
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instances.erase( m_device );
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m_context->removeInstance();
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m_context->unlock();
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m_context.reset();
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m_device = NULL;
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};
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-
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free( m_rgb[1] );
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-
m_rgb[1] = NULL;
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-
};
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-
if ( m_rgb[0] != NULL ) {
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-
free( m_rgb[0] );
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-
m_rgb[0] = NULL;
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for ( int i=0; i<3; i++ ) {
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if ( m_depth[i] != NULL ) {
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free( m_depth[i] );
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m_depth[i] = NULL;
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};
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if ( m_rgb[i] != NULL ) {
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free( m_rgb[i] );
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m_rgb[i] = NULL;
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};
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};
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m_node = -1;
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}
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@@ -82,11 +84,15 @@ FramePtr KinectInput::readVideo(void) throw (Error)
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{
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ERRORMACRO( m_device != NULL, Error, , "Kinect device is not open. "
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"Did you call \"close\" before?" );
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-
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m_context->lock();
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while ( !m_haveRGB ) m_context->wait();
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m_haveRGB = false;
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+
char *data = m_rgb[ 2 ];
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m_rgb[ 2 ] = m_rgb[ 1 - m_currentRGB ];
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m_rgb[ 1 - m_currentRGB ] = data;
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m_context->unlock();
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FramePtr retVal = FramePtr
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-
( new Frame( "UBYTERGB", FREENECT_FRAME_W, FREENECT_FRAME_H,
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-
m_rgb[ 1 - m_currentRGB ] ) );
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( new Frame( "UBYTERGB", FREENECT_FRAME_W, FREENECT_FRAME_H, m_rgb[ 2 ] ) );
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return retVal;
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}
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@@ -94,11 +100,15 @@ FramePtr KinectInput::readDepth(void) throw (Error)
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{
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ERRORMACRO( m_device != NULL, Error, , "Kinect device is not open. "
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"Did you call \"close\" before?" );
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-
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+
m_context->lock();
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while ( !m_haveDepth ) m_context->wait();
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m_haveDepth = false;
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char *data = m_depth[ 2 ];
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m_depth[ 2 ] = m_depth[ 1 - m_currentDepth ];
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m_depth[ 1 - m_currentDepth ] = data;
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m_context->unlock();
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FramePtr retVal = FramePtr
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-
( new Frame( "USINT", FREENECT_FRAME_W, FREENECT_FRAME_H,
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-
m_depth[ 1 - m_currentDepth ] ) );
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( new Frame( "USINT", FREENECT_FRAME_W, FREENECT_FRAME_H, m_depth[ 2 ] ) );
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return retVal;
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}
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@@ -118,16 +128,26 @@ void KinectInput::setLED( unsigned char state ) throw (Error)
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128
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{
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ERRORMACRO( m_device != NULL, Error, , "Kinect device is not open. "
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"Did you call \"close\" before?" );
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-
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-
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m_context->lock();
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if ( freenect_set_led( m_device, (freenect_led_options)state ) == 0 ) {
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m_context->unlock();
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} else {
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m_context->unlock();
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ERRORMACRO( false, Error, , "Error setting LED state" );
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+
};
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123
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}
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124
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125
140
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void KinectInput::setTilt( double angle ) throw (Error)
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126
141
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{
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127
142
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ERRORMACRO( m_device != NULL, Error, , "Kinect device is not open. "
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128
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"Did you call \"close\" before?" );
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-
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-
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m_context->lock();
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if ( freenect_set_tilt_degs( m_device, angle ) == 0 ) {
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m_context->unlock();
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} else {
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ERRORMACRO( false, Error, , "Error setting tilt angle" );
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149
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+
m_context->unlock();
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150
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+
};
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}
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132
152
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133
153
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void KinectInput::getState(void) throw (Error)
|
data/ext/kinectinput.hh
CHANGED
@@ -63,10 +63,10 @@ public:
|
|
63
63
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freenect_device *m_device;
|
64
64
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int m_currentRGB;
|
65
65
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bool m_haveRGB;
|
66
|
-
char *m_rgb[
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66
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+
char *m_rgb[3];
|
67
67
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int m_currentDepth;
|
68
68
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bool m_haveDepth;
|
69
|
-
char *m_depth[
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69
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+
char *m_depth[3];
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70
70
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};
|
71
71
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|
72
72
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typedef boost::shared_ptr< KinectInput > KinectInputPtr;
|
metadata
CHANGED
@@ -4,9 +4,9 @@ version: !ruby/object:Gem::Version
|
|
4
4
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prerelease: false
|
5
5
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segments:
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6
6
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- 0
|
7
|
-
-
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7
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+
- 2
|
8
8
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- 0
|
9
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-
version: 0.
|
9
|
+
version: 0.2.0
|
10
10
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platform: ruby
|
11
11
|
authors:
|
12
12
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- Jan Wedekind
|
@@ -14,7 +14,7 @@ autorequire:
|
|
14
14
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bindir: bin
|
15
15
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cert_chain: []
|
16
16
|
|
17
|
-
date: 2011-03-
|
17
|
+
date: 2011-03-11 00:00:00 +00:00
|
18
18
|
default_executable:
|
19
19
|
dependencies:
|
20
20
|
- !ruby/object:Gem::Dependency
|