nl-knd_client 0.0.0.pre.usegit → 0.0.2

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA256:
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-  data.tar.gz: b5b3365f0c479674c352e1c2ace64c3876faf35cd1f846291098958df890fd76
+  metadata.gz: 336ea86637ac621dac8b4b939b354ca30745f785af71d749c8409e899c0bdb28
+  data.tar.gz: aaba0d0150ef2e6853e6b8494e5d786222da06c7125b8adb09587ce800e7675c
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-  data.tar.gz: 2d6d151a91c50ebc9007501025e16ce49ec239080e80d7ba6c3f661b04f00be63db82c9154ddf61091d837b4a5dddac4c857cb3c4dd4d327a40e1fb3b304732c
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+  data.tar.gz: 8b705db457836405b48de38e1ee89654d3afbe451988e26b2382c3343243686f5840098c3360b504b2b1b45b1a305872d8bb73d40a4b5472f95c04e6708a1c3b

data/Gemfile.lock

@@ -7,7 +7,7 @@ GIT
 PATH
   remote: .
   specs:
-    nl-knd_client (0.0.0.pre.usegit)
+    nl-knd_client (0.0.2)
       nl-fast_png
 
 GEM

data/README.md

@@ -43,6 +43,73 @@ $ bundle install
 
 TODO: Write usage instructions here
 
+### Quick and dirty ASCII/ANSI art
+
+```ruby
+knd = NL::KndClient::SimpleKndClient.new
+knd.open
+
+d11 = knd.get_depth
+d16 = NL::KndClient::Kinutils.unpack11_to_16_lut(d11)
+
+knd.close
+
+# img will contain full 3D coordinates after this, but we'll only use Z here.
+# img[y][x] will return the voxel at (x, y) in the 640x480 data.
+img = d16.unpack('S*').map { |v|
+  NL::KndClient::Kinutils::DEPTH_LUT[v]
+}.each_slice(640).map.with_index { |row, y|
+  row.map.with_index { |zw, x|
+    if zw > 4000
+      {x: 0, y: 0, z: -1}
+    else
+      {
+        x: NL::KndClient::Kinutils.xworld(x, zw),
+        y: NL::KndClient::Kinutils.yworld(y, zw),
+        z: zw
+      }
+    end
+  }
+}
+
+puts img.each_slice(15).map(&:first).map { |z| z.each_slice(11).map(&:first) }.map { |z| z.map { |v| [0, v[:z] - 200].max / 450 } }.map { |z| z.map { |v| [".", '-', "\e[1m-\e[0m", 'o', "\e[1mo\e[0m", 'O', "\e[1mO\e[0m"].reverse[v] }.join }
+```
+
+```
+-----------.......................---------------O--------O
+-----------.....................--------------------------O
+-----------.......OOOO.O........--------------------------O
+-----O-----.......OOoooo........--------------------------O
+-----------......OOOoooo.o......-OOoooo-------------------O
+----O------......OOOOooooo.....OOoooooooo-----------------O
+-----------.......OOoOooo......Oooooooooo-------------OOOOO
+-----------.......OOOOOo.......Ooooooooo-------------OOOOOO
+-----------........OOooo.......Ooooooooo-------------OOOOOO
+-----------....--..OOooo........Oooooooo-------------OOOOOO
+-----------...---...OOooo.......Ooooooo--------------OOOOOO
+-----------...----..OOooo....Oooooooooo--------------OOOOOO
+-----------.........OOooo.Oooooooooooooooooo---------OOOOOO
+-----------.........OOooooOOoooooooooooooooooooo--OO-OOOOOO
+-----------.........OOOoooooooooooooooooooooooooooooooOOOOO
+-----------.........OOOooooooooooooooooooo-oo-oooooooooOOOO
+-----------.........OOOooooooooooooooooooo--------OOOOOOOOO
+-----------.---.O...OOOOooooOoooooooooooooo-----OOooOOOOOOO
+----------------------------OOooooooooooooooo--OOOOOOOOOOOO
+oo---------------------------OooooooooooooooOOOOOOOOOOOOOOO
+ooo--------------------------OoooooooooooooOOOOOOOOOOOOOOOO
+oooo--------------------------OooooooooOOOOOOOOOOOOOOOOOOOO
+ooooo-----------------OOO-O--OOoooooooOOOOOOOOOOOOOOOOOOOOO
+ooooo---------OO-oo-----O-----OooooOOOOOOOOOOOOOOOOOOOOOOOO
+ooooo----OOOooooooo-----OOO--OOOOOOOOOOOOOOOOOOOOOOOOOOOOOO
+oooOOOOooooooooooooo--O-OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO
+oOooooooooooooooooo---O-OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO
+oooooooooooooooo-----OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO
+oooooooooooooo----OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO
+ooooooooooo---OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO
+ooooooo-----OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO
+ooooo----OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO
+```
+
 ### Standalone command-line processing
 
 There is a Makefile in the `ext/` directory that will build standalone tools

data/bin/ansi_art.rb

@@ -0,0 +1,48 @@
+#!/usr/bin/env ruby
+# Quick and dirty demo of the SimpleKndClient that displays live depth data as
+# ANSI art.
+#
+# (C)2020 Mike Bourgeous
+
+require 'bundler/setup'
+
+require 'nl/knd_client'
+
+begin
+  knd = NL::KndClient::SimpleKndClient.new
+  knd.open
+
+  STDOUT.write "\e[H\e[J"
+
+  loop do
+    d11 = knd.get_depth
+    d16 = NL::KndClient::Kinutils.unpack11_to_16_lut(d11)
+
+    # img will contain full 3D coordinates after this, but we'll only use Z here.
+    # img[y][x] will return the voxel at (x, y) in the 640x480 data.
+    img = d16.unpack('S*').map { |v|
+      NL::KndClient::Kinutils::DEPTH_LUT[v]
+    }.each_slice(640).map.with_index { |row, y|
+      row.map.with_index { |zw, x|
+        if zw > 4000
+          {x: 0, y: 0, z: -1}
+        else
+          {
+            x: NL::KndClient::Kinutils.xworld(x, zw),
+            y: NL::KndClient::Kinutils.yworld(y, zw),
+            z: zw
+          }
+        end
+      }
+    }
+
+    charmap = [".", '-', "\e[1m-\e[0m", 'o', "\e[1mo\e[0m", 'O', "\e[1mO\e[0m"].reverse
+
+    puts img.each_slice(15).map(&:first).map { |z| z.each_slice(11).map(&:first) }.map { |z| z.map { |v| [0, v[:z] - 200].max / 450 } }.map { |z| z.map { |v| charmap[v] }.join }
+
+    STDOUT.write "\e[H"
+  end
+ensure
+  knd&.close
+  puts "\e[45H\e[0m"
+end

data/bin/grayscale.rb

@@ -0,0 +1,41 @@
+#!/usr/bin/env ruby
+# Displays live depth data as a grayscale range using SimpleKndClient.
+# Requires a truecolor-capable terminal.
+#
+# (C)2020 Mike Bourgeous
+
+require 'bundler/setup'
+
+require 'nl/knd_client'
+
+begin
+  knd = NL::KndClient::SimpleKndClient.new
+  knd.open
+
+  STDOUT.write "\e[H\e[J"
+
+  loop do
+    d11 = knd.get_depth
+    d8 = NL::KndClient::Kinutils.plot_linear(NL::KndClient::Kinutils.unpack11_to_16(d11))
+
+    # img will contain full 3D coordinates after this, but we'll only use Z here.
+    # img[y][x] will return the voxel at (x, y) in the 640x480 data.
+    img = d8.bytes.each_slice(640).to_a
+
+    chars = img.each_slice(15).map(&:first).map { |z|
+      z.each_slice(11).map(&:first)
+    }.map { |z|
+      z.map { |v|
+        gray = [v - 150, 0].max * 2
+        "\e[0;37;48;2;#{gray};#{gray};#{gray}m "
+      }.join
+    }
+
+    puts chars
+
+    STDOUT.write "\e[H"
+  end
+ensure
+  knd&.close
+  puts "\e[45H\e[0m"
+end

data/ext/kinutils/kinutils.c

@@ -23,6 +23,7 @@ struct unpack_info {
 	const uint8_t *in;
 	uint16_t *out;
 	size_t len;
+	unsigned int lut_range:1;
 };
 
 struct kvp_info {
@@ -39,15 +40,21 @@ void *unpack_blocking(void *data)
 	struct unpack_info *info = data;
 	size_t i, o;
 
-	for(i = 0, o = 0; i < info->len; i += 11, o += 8) {
-		unpack11_to_16(info->in + i, info->out + o);
+	if (info->lut_range) {
+		for(i = 0, o = 0; i < info->len; i += 11, o += 8) {
+			unpack11_to_16_lut(info->in + i, info->out + o);
+		}
+	} else {
+		for(i = 0, o = 0; i < info->len; i += 11, o += 8) {
+			unpack11_to_16(info->in + i, info->out + o);
+		}
 	}
 
 	return NULL;
 }
 
-// Ruby function to unpack 11-bit depth data to 16-bit left-aligned values
-VALUE rb_unpack11_to_16(VALUE self, VALUE data)
+// Ruby function to unpack 11-bit depth data to 16-bit left-aligned or right-aligned values.
+static VALUE internal_unpack11_to_16(int lut_range, VALUE data)
 {
 	size_t len, newlen;
 	VALUE outbuf;
@@ -64,7 +71,7 @@ VALUE rb_unpack11_to_16(VALUE self, VALUE data)
 
 	rb_thread_call_without_gvl(
 			unpack_blocking,
-			&(struct unpack_info){.in = (uint8_t *)RSTRING_PTR(data), .out = (uint16_t *)RSTRING_PTR(outbuf), .len = len},
+			&(struct unpack_info){.in = (uint8_t *)RSTRING_PTR(data), .out = (uint16_t *)RSTRING_PTR(outbuf), .len = len, .lut_range = !!lut_range},
 			NULL,
 			NULL
 			);
@@ -72,11 +79,23 @@ VALUE rb_unpack11_to_16(VALUE self, VALUE data)
 	return outbuf;
 }
 
-VALUE plot_linear_blocking(void *data)
+// Unpacks to 16-bit left-aligned values (for presentation, or passing into plot_linear)
+VALUE rb_unpack11_to_16(VALUE self, VALUE data)
+{
+	return internal_unpack11_to_16(0, data);
+}
+
+// Unpacks to 16-bit right-aligned values (for direct use in DEPTH_LUT)
+VALUE rb_unpack11_to_16_lut(VALUE self, VALUE data)
+{
+	return internal_unpack11_to_16(1, data);
+}
+
+void *plot_linear_blocking(void *data)
 {
 	struct plot_info *info = data;
 	plot_linear(info->in, info->out);
-	return Qnil;
+	return NULL;
 }
 
 // Ruby function to plot perspective view of linear depth data.  Input:
@@ -108,11 +127,11 @@ VALUE rb_plot_linear(VALUE self, VALUE data)
 	return outbuf;
 }
 
-VALUE plot_overhead_blocking(void *data)
+void *plot_overhead_blocking(void *data)
 {
 	struct plot_info *info = data;
 	plot_overhead(info->in, info->out);
-	return Qnil;
+	return NULL;
 }
 
 // Ruby function to plot overhead view of depth data.  Input: 640x480x16bit
@@ -144,11 +163,11 @@ VALUE rb_plot_overhead(VALUE self, VALUE data)
 	return outbuf;
 }
 
-VALUE plot_side_blocking(void *data)
+void *plot_side_blocking(void *data)
 {
 	struct plot_info *info = data;
 	plot_side(info->in, info->out);
-	return Qnil;
+	return NULL;
 }
 
 // Ruby function to plot side view of depth data.  Input: 640x480x16bit
@@ -181,11 +200,11 @@ VALUE rb_plot_side(VALUE self, VALUE data)
 	return outbuf;
 }
 
-VALUE plot_front_blocking(void *data)
+void *plot_front_blocking(void *data)
 {
 	struct plot_info *info = data;
 	plot_front(info->in, info->out);
-	return Qnil;
+	return NULL;
 }
 
 // Ruby function to plot front view of depth data.  Input: 640x480x16bit
@@ -366,6 +385,19 @@ VALUE rb_kvp(int argc, VALUE *argv, VALUE self)
 	return hash;
 }
 
+// Converts X in pixels 0..639 and Z in world-space millimeters from the sensor
+// into horizontal world-space millimeters from the sensor centerline.
+VALUE ext_xworld(VALUE self, VALUE xpix, VALUE zw)
+{
+	return INT2FIX(ku_xworld(NUM2INT(xpix), NUM2INT(zw)));
+}
+
+// Converts Y in pixels 0..480 and Z in world-space millimeters from the sensor
+// into vertical world-space millimeters from the sensor centerline.
+VALUE ext_yworld(VALUE self, VALUE ypix, VALUE zw)
+{
+	return INT2FIX(ku_yworld(NUM2INT(ypix), NUM2INT(zw)));
+}
 
 void Init_kinutils()
 {
@@ -396,16 +428,28 @@ void Init_kinutils()
 	rb_define_global_const("ESCAPE_IF_QUOTED", INT2FIX(ESCAPE_IF_QUOTED));
 
 	rb_define_module_function(KinUtils, "unpack11_to_16", rb_unpack11_to_16, 1);
+	rb_define_module_function(KinUtils, "unpack11_to_16_lut", rb_unpack11_to_16_lut, 1);
 	rb_define_module_function(KinUtils, "plot_linear", rb_plot_linear, 1);
 	rb_define_module_function(KinUtils, "plot_overhead", rb_plot_overhead, 1);
 	rb_define_module_function(KinUtils, "plot_side", rb_plot_side, 1);
 	rb_define_module_function(KinUtils, "plot_front", rb_plot_front, 1);
 
-	// TODO: Move to a different extension
 	rb_define_method(rb_cString, "kin_unescape", rb_unescape, -1);
 	rb_define_method(rb_cString, "kin_unescape!", rb_unescape_modify, -1);
 
 	rb_define_method(rb_cString, "kin_kvp", rb_kvp, -1);
 
-	// TODO: Add xworld,yworld,lut,reverse_lut,unpack_to_world/unpack_to_8 functions
+	// 3D perspective projection
+	rb_define_module_function(KinUtils, "xworld", ext_xworld, 2);
+	rb_define_module_function(KinUtils, "yworld", ext_yworld, 2);
+
+	// Look-up table
+	VALUE lut_array = rb_ary_new2(2048);
+	for (int i = 0; i < 2048; i++) {
+		rb_ary_store(lut_array, i, INT2FIX(ku_depth_lut[i]));
+	}
+	rb_ary_freeze(lut_array);
+	rb_define_const(KinUtils, "DEPTH_LUT", lut_array);
+
+	// TODO: Add reverse_lut,unpack_to_world/unpack_to_8 functions
 }

data/ext/kinutils/unpack.c

@@ -10,35 +10,9 @@
 #define UNPACK_INLINE
 #include "unpack.h"
 
-// TODO: Put ku_xworld, ku_yworld, lut into a library of addons, or submit as patches
-// to libfreenect.
-
 // Depth look-up table (translates depth sample into world-space millimeters).
 int ku_depth_lut[2048];
 
-// Converts x in pixels and z in world millimeters to x in world millimeters.
-static int ku_xworld(int x, int zw)
-{
-	// tan 28 ~= .53171 (1089 ~= .53171 * 2048)
-	// 0xcccd is the ~reciprocal of 10 (factor of W/2=320)
-	// Add 2**34 (0x400000000) for rounding before shift
-	// Shift right by 35:
-	//   11 bits for tangent (* 2048 above)
-	//   19 bits for reciprocal multiplication by 1/10 (factor of W/2=320)
-	//   5 bits for division by 32 (other factor of W/2=320)
-	//
-	// In total, with an overly generous maximum range of +/-16384mm (15
-	// bits), and an overhead of 35 bits due to arithmetic, 50 bits are
-	// needed for the calculation.
-	return (((int64_t)zw * (320 - x) * 1089 * 0xcccd) + 0x400000000) >> 35;
-}
-
-// Converts y in pixels and z in world millimeters to y in world millimeters.
-static int ku_yworld(int y, int zw)
-{
-	return ku_xworld(y + (640 - 480) / 2, zw);
-}
-
 // Initializes the depth look-up table.
 // Copied from the knd daemon code, based on:
 // http://groups.google.com/group/openkinect/browse_thread/thread/31351846fd33c78/e98a94ac605b9f21#e98a94ac605b9f21
@@ -49,7 +23,7 @@ void ku_init_lut()
 	for(i = 0; i < 2047; i++) {
 		ku_depth_lut[i] = (int)(0.1236f * tanf(i / 2842.5f + 1.1863f) * 1000.0f);
 	}
-	ku_depth_lut[2047] = 1048576;
+	ku_depth_lut[2047] = 1048576; // 2047 is returned by the sensor for shadowed or undetectable pixels
 }
 
 // Finds the closest entry in the depth look-up table to the given world-space

data/ext/kinutils/unpack.h

@@ -25,8 +25,26 @@
 // Depth look-up table (translates depth sample into world-space millimeters).
 extern int ku_depth_lut[2048];
 
+// Unpacks and inverts 8 11-bit pixels (11 bytes) from in and stores them as
+// LSB-aligned 16-bit values in out (16 bytes), which can be used directly as
+// indices in ku_depth_lut.
+UNPACK_INLINE void unpack11_to_16_lut(const uint8_t *in, uint16_t *out)
+{
+	out[0] = ((in[0] << 3) | (in[1] >> 5));
+	out[1] = (((in[1] & 0x1f) << 6) | (in[2] >> 2));
+	out[2] = (((in[2] & 0x03) << 9) | (in[3] << 1) | (in[4] >> 7));
+	out[3] = (((in[4] & 0x7f) << 4) | (in[5] >> 4));
+	out[4] = (((in[5] & 0x0f) << 7) | (in[6] >> 1));
+	out[5] = (((in[6] & 0x01) << 10) | (in[7] << 2) | (in[8] >> 6));
+	out[6] = (((in[8] & 0x3f) << 5) | (in[9] >> 3));
+	out[7] = (((in[9] & 0x07) << 8) | in[10]);
+}
+
 // Unpacks and inverts 8 11-bit pixels (11 bytes) from in and stores them as
 // MSB-aligned 16-bit values in out (16 bytes)
+//
+// The range is scaled and inverted to look presentable in a 16-bit sRGB PNG
+// image.  To convert back to LUT indices
 UNPACK_INLINE void unpack11_to_16(const uint8_t *in, uint16_t *out)
 {
 	out[0] = 65535 - (((in[0] << 3) | (in[1] >> 5)) << 5);
@@ -80,6 +98,29 @@ UNPACK_INLINE int pxval_11(uint8_t *buf, int pixel)
 	return (base >> shiftbits) & 0x7ff;
 }
 
+// Converts x in pixels and z in world millimeters to x in world millimeters.
+UNPACK_INLINE int ku_xworld(int x, int zw)
+{
+	// tan 28 ~= .53171 (1089 ~= .53171 * 2048)
+	// 0xcccd is the ~reciprocal of 10 (factor of W/2=320)
+	// Add 2**34 (0x400000000) for rounding before shift
+	// Shift right by 35:
+	//   11 bits for tangent (* 2048 above)
+	//   19 bits for reciprocal multiplication by 1/10 (factor of W/2=320)
+	//   5 bits for division by 32 (other factor of W/2=320)
+	//
+	// In total, with an overly generous maximum range of +/-16384mm (15
+	// bits), and an overhead of 35 bits due to arithmetic, 50 bits are
+	// needed for the calculation.
+	return (((int64_t)zw * (320 - x) * 1089 * 0xcccd) + 0x400000000) >> 35;
+}
+
+// Converts y in pixels and z in world millimeters to y in world millimeters.
+UNPACK_INLINE int ku_yworld(int y, int zw)
+{
+	return ku_xworld(y + (640 - 480) / 2, zw);
+}
+
 // Initializes the depth look-up table.
 // Copied from the knd daemon code, based on:
 // http://groups.google.com/group/openkinect/browse_thread/thread/31351846fd33c78/e98a94ac605b9f21#e98a94ac605b9f21

data/lib/nl/knd_client/em_knd_client.rb

@@ -102,6 +102,7 @@ module NL
       @@connected = false
       @@instance = nil
       @@fps = 0
+      @@occupied = 0
 
       # The time of the last connection/disconnection event
       @@connection_time = Time.now

data/lib/nl/knd_client/simple_knd_client.rb

@@ -46,6 +46,19 @@ module NL
         @socket = nil
       end
 
+      # Sends the getdepth command to KND to request async delivery of a single
+      # depth frame.
+      def request_depth
+        @socket.puts('getdepth')
+      end
+
+      # Sends the subdepth command to KND to request continuous async delivery
+      # of depth frames.  The optional +count+ will cause only that number of
+      # frames to be delivered.
+      def subscribe_depth(count = nil)
+        @socket.puts("subdepth#{count && " #{count}"}")
+      end
+
       # Waits for and then returns depth data.
       def get_depth
         data = nil
@@ -54,7 +67,7 @@ module NL
         cb = ->(d) { data = d; t.wakeup }
         on_zone('! DEPTH', &cb)
 
-        @socket.puts('getdepth')
+        request_depth
         sleep(1)
 
         raise "Data wasn't set within 1 second" if data.nil?
@@ -79,7 +92,6 @@ module NL
 
             when 'DEPTH'
               num_bytes = line.gsub(/\A[^0-9]*(\d+)[^0-9]*\z/, '\1').to_i
-              puts "\n\n\n\n\e[1;33m=========== DEPTH line #{num_bytes} ============\n\n\n\n"
               data = @socket.read(num_bytes)
               @callbacks['! DEPTH']&.each do |cb|
                 cb.call(data) rescue puts "Error calling depth callback: #{MB::Sound::U.syntax($!.inspect)}"

data/lib/nl/knd_client/version.rb

@@ -1,5 +1,5 @@
 module NL
   module KndClient
-    VERSION = "0.0.0-usegit"
+    VERSION = "0.0.2"
   end
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: nl-knd_client
 version: !ruby/object:Gem::Version
-  version: 0.0.0.pre.usegit
+  version: 0.0.2
 platform: ruby
 authors:
 - Mike Bourgeous
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2020-11-29 00:00:00.000000000 Z
+date: 2021-03-07 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: nl-fast_png
@@ -95,7 +95,9 @@ files:
 - LICENSE
 - README.md
 - Rakefile
+- bin/ansi_art.rb
 - bin/console
+- bin/grayscale.rb
 - bin/setup
 - ext/Makefile
 - ext/front.c
@@ -133,9 +135,9 @@ required_ruby_version: !ruby/object:Gem::Requirement
       version: 2.3.0
 required_rubygems_version: !ruby/object:Gem::Requirement
   requirements:
-  - - ">"
+  - - ">="
     - !ruby/object:Gem::Version
-      version: 1.3.1
+      version: '0'
 requirements: []
 rubygems_version: 3.1.4
 signing_key: