hornetseye-kinect 0.2.0 → 0.2.1

data/README.md

@@ -64,36 +64,16 @@ Here is another example displaying RGB and the depth image while keeping the til
     require 'hornetseye_kinect'
     require 'hornetseye_xorg'
     include Hornetseye
-    class Numeric
-      def clip( range )
-        [ [ self, range.begin ].max, range.end ].min
-      end
-    end
-    colours = Sequence.ubytergb 256
-    for i in 0...256
-      hue = 240 - i * 240.0 / 256.0
-      colours[i] =
-        RGB( ( ( hue - 180 ).abs -  60 ).clip( 0...60 ) * 0xFF / 60.0,
-             ( 120 - ( hue - 120 ).abs ).clip( 0...60 ) * 0xFF / 60.0,
-             ( 120 - ( hue - 240 ).abs ).clip( 0...60 ) * 0xFF / 60.0 )
-    end
     input = KinectInput.new
-    display = X11Display.new
-    output_depth, output_video = XImageOutput.new, XVideoOutput.new
-    window_depth = X11Window.new display, output_depth, 640, 480
-    window_video = X11Window.new display, output_video, 640, 480
-    window_depth.title = 'Depth'
-    window_video.title = 'Video'
-    window_depth.show
-    window_video.show
     input.led = KinectInput::LED_RED
-    while display.status?
+    img = MultiArray.ubytergb 1280, 480
+    X11Display.show :output => XVideoOutput do
+      img[   0 ...  640, 0 ... 480 ] = input.read_video
+      img[ 640 ... 1280, 0 ... 480 ] = ( input.read_depth >> 2 ).clip
       input.tilt = 0.0
       input.get_state
       moving = input.tilt_status == KinectInput::TILT_STATUS_MOVING
       input.led = moving ? KinectInput::LED_RED : KinectInput::LED_GREEN
-      output_video.write input.read_video
-      output_depth.write( ( input.read_depth >> 3 ).lut colours )
-      display.process_events
+      img
     end
 

data/Rakefile

@@ -7,7 +7,7 @@ require 'rake/loaders/makefile'
 require 'rbconfig'
 
 PKG_NAME = 'hornetseye-kinect'
-PKG_VERSION = '0.2.0'
+PKG_VERSION = '0.2.1'
 CFG = RbConfig::CONFIG
 CXX = ENV[ 'CXX' ] || 'g++'
 RB_FILES = FileList[ 'lib/**/*.rb' ]

data/ext/kinectcontext.cc

@@ -26,10 +26,11 @@ using namespace std;
 VALUE KinectContext::cRubyClass = Qnil;
 
 KinectContext::KinectContext(void) throw (Error):
-  m_context(NULL), m_mutex(PTHREAD_MUTEX_INITIALIZER), m_cond(PTHREAD_COND_INITIALIZER),
-  m_instances(0)
+  m_usb(NULL), m_context(NULL), m_mutex(PTHREAD_MUTEX_INITIALIZER),
+  m_cond(PTHREAD_COND_INITIALIZER), m_instances(0)
 {
-  freenect_init( &m_context, NULL );
+  ERRORMACRO( libusb_init( &m_usb ) == 0, Error, , "Error creating libusb session" );
+  freenect_init( &m_context, m_usb );
   ERRORMACRO( m_context != NULL, Error, , "Initialisation of libfreenect failed" );
 }
 
@@ -63,6 +64,10 @@ void KinectContext::close(void)
     freenect_shutdown( m_context );
     m_context = NULL;
   };
+  if ( m_usb != NULL ) {
+    libusb_exit( m_usb );
+    m_usb = NULL;
+  };
 }
 
 freenect_context *KinectContext::get(void) throw (Error)
@@ -77,9 +82,13 @@ void KinectContext::lock(void)
   pthread_mutex_lock( &m_mutex );
 }
 
-void KinectContext::wait(void)
+void KinectContext::wait(void) throw (Error)
 {
-  processEvents();
+  struct timeval tv;
+  tv.tv_sec = 1;
+  tv.tv_usec = 0;
+  ERRORMACRO( libusb_handle_events_timeout( m_usb, &tv ) == 0, Error, ,
+              "Error processing USB events" );
 }
 
 void KinectContext::unlock(void)
@@ -87,12 +96,6 @@ void KinectContext::unlock(void)
   pthread_mutex_unlock( &m_mutex );
 }
 
-void KinectContext::processEvents(void) throw (Error)
-{
-  ERRORMACRO( freenect_process_events( m_context ) >= 0, Error, , "Error processing "
-              "USB events" );
-}
-
 string KinectContext::inspect(void) const
 {
   ostringstream s;
@@ -105,9 +108,12 @@ void KinectContext::threadFunc(void)
   bool quit = false;
   while ( !quit ) {
     lock();
-    if ( m_instances > 0 )
-      processEvents();
-    else {
+    if ( m_instances > 0 ) {
+      try {
+        wait();
+      } catch ( Error &e ) {
+      };
+    } else {
       pthread_cond_signal( &m_cond );
       quit = true;
     };

data/ext/kinectcontext.hh

@@ -30,10 +30,9 @@ public:
   void close(void);
   void addInstance(void);
   void removeInstance(void);
-  void processEvents(void) throw (Error);
   freenect_context *get(void) throw (Error);
   void lock(void);
-  void wait(void);
+  void wait(void) throw (Error);
   void unlock(void);
   static VALUE cRubyClass;
   static VALUE registerRubyClass( VALUE module );
@@ -43,6 +42,7 @@ public:
 protected:
   void threadFunc(void);
   static void *staticThreadFunc( void *self );
+  libusb_context *m_usb;
   freenect_context *m_context;
   pthread_t m_thread;
   pthread_mutex_t m_mutex;

data/ext/kinectinput.cc

@@ -85,11 +85,16 @@ FramePtr KinectInput::readVideo(void) throw (Error)
   ERRORMACRO( m_device != NULL, Error, , "Kinect device is not open. "
               "Did you call \"close\" before?" );
   m_context->lock();
-  while ( !m_haveRGB ) m_context->wait();
-  m_haveRGB = false;
-  char *data = m_rgb[ 2 ];
-  m_rgb[ 2 ] = m_rgb[ 1 - m_currentRGB ];
-  m_rgb[ 1 - m_currentRGB ] = data;
+  try {
+    while ( !m_haveRGB ) m_context->wait();
+    m_haveRGB = false;
+    char *data = m_rgb[ 2 ];
+    m_rgb[ 2 ] = m_rgb[ 1 - m_currentRGB ];
+    m_rgb[ 1 - m_currentRGB ] = data;
+  } catch ( Error &e ) {
+    m_context->unlock();
+    throw e;
+  };
   m_context->unlock();
   FramePtr retVal = FramePtr
     ( new Frame( "UBYTERGB", FREENECT_FRAME_W, FREENECT_FRAME_H, m_rgb[ 2 ] ) );
@@ -101,11 +106,16 @@ FramePtr KinectInput::readDepth(void) throw (Error)
   ERRORMACRO( m_device != NULL, Error, , "Kinect device is not open. "
               "Did you call \"close\" before?" );
   m_context->lock();
-  while ( !m_haveDepth ) m_context->wait();
-  m_haveDepth = false;
-  char *data = m_depth[ 2 ];
-  m_depth[ 2 ] = m_depth[ 1 - m_currentDepth ];
-  m_depth[ 1 - m_currentDepth ] = data;
+  try {
+    while ( !m_haveDepth ) m_context->wait();
+    m_haveDepth = false;
+    char *data = m_depth[ 2 ];
+    m_depth[ 2 ] = m_depth[ 1 - m_currentDepth ];
+    m_depth[ 1 - m_currentDepth ] = data;
+  } catch ( Error &e ) {
+    m_context->unlock();
+    throw e;
+  };
   m_context->unlock();
   FramePtr retVal = FramePtr
     ( new Frame( "USINT", FREENECT_FRAME_W, FREENECT_FRAME_H, m_depth[ 2 ] ) );

metadata

@@ -5,8 +5,8 @@ version: !ruby/object:Gem::Version
   segments: 
   - 0
   - 2
-  - 0
-  version: 0.2.0
+  - 1
+  version: 0.2.1
 platform: ruby
 authors: 
 - Jan Wedekind
@@ -14,7 +14,7 @@ autorequire:
 bindir: bin
 cert_chain: []
 
-date: 2011-03-11 00:00:00 +00:00
+date: 2011-03-14 00:00:00 +00:00
 default_executable: 
 dependencies: 
 - !ruby/object:Gem::Dependency