ruby-freenect 0.0.0

data/.gems

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+# .gems generated gem export file. Note that any env variable settings will be missing. Append these after using a ';' field separator
+diff-lcs -v1.1.3
+ffi -v1.0.11
+git -v1.2.5
+jeweler -v1.6.4
+mkrf -v0.2.3
+rake -v0.9.2.2
+rspec -v2.7.0
+rspec-core -v2.7.1
+rspec-expectations -v2.7.0
+rspec-mocks -v2.7.0
+ruby-opengl2 -v0.60.3

data/.rvmrc

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+rvm use 1.9.3@ruby-freenect

data/LICENSE.txt

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+The MIT License
+
+Copyright (c) 2012 Troy Stribling
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+'Software'), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED 'AS IS', WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+

data/README.rdoc

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+= ruby-freenect
+
+FFI-based Ruby wrapper for the OpenKinect library. ruby-freenect supports the following,
+
+* Video, IR and Depth
+* LED
+* Tilt
+* Accelerometer
+
+== Requirements
+
+* libfreenect http://openkinect.org/wiki/Main_Page (See the section on installing libfreenect)
+* Ruby 1.9.3 or greater
+* Only tested on Ubuntu 10.04
+
+== Interface
+
+The interface is very simple. This section will give a brief description of all supported methods and attributes.
+
+=== Video and Depth Modes
+
+Video and depth modes are used to configure the video and depth data streams and provide info about the streams. Both are instances of the FreenectFrameMode. FreenectFrameMode attributes are shown below and may be accessed with <tt>[]</tt>
+
+* <b>:resolution</b>             - Resolution
+* <b>:format</b>                 - Video or depth format accessed using <tt>mode[:format][:video_format]</tt> or <tt>mode[:format][:depth_format]</tt>
+* <b>:bytes</b>                  - Total buffer size in bytes to hold a single frame of data,
+* <b>:width</b>                  - Width of the frame, in pixels
+* <b>:height</b>                 - Height of the frame, in pixels
+* <b>:data_bits_per_pixel</b>    - Number of bits of information needed for each pixel
+* <b>:padding_bits_per_pixel</b> - Number of bits of padding for alignment used for each pixel
+* <b>:framerate</b>              - Approximate expected frame rate, in Hz
+* <b>:is_valid</b>               - If 0  is invalid and does not describe a supported mode.  Otherwise, the frame_mode is valid.
+
+The supported resolutions are,
+
+* <b>:freenect_resolution_medium</b> VGA  - 640x480 
+  
+The supported Depth Formats are.
+
+* <b>:freenect_depth_11bit</b>        - 11 bit depth information in one uint16_t/pixel
+* <b>:freenect_depth_10bit</b>        - 10 bit depth information in one uint16_t/pixel
+* <b>:freenect_depth_11bit_packed</b> - 11 bit packed depth information
+* <b>:freenect_depth_10bit_packed</b> - 10 bit packed depth information
+  
+The supported Video Formats are,
+
+* <b>:freenect_video_rgb</b>              - Decompressed RGB mode 
+* <b>:freenect_video_bayer</b>            - Bayer compressed mode
+* <b>:freenect_video_ir_8bit</b>          - 8-bit IR mode
+* <b>:freenect_video_ir_10bit</b>         - 10-bit IR mode
+* <b>:freenect_video_ir_10bit_packed</b>  - 10-bit packed IR mode
+* <b>:freenect_video_yuv_rgb</b>          - YUV RGB mode
+* <b>:freenect_video_yuv_raw</b>          - YUV Raw mode
+   
+=== Video Stream
+
+The following methods are used to access and configure the video stream,
+
+Return the number of supported video modes.
+
+  Freenect.get_video_mode_count
+      
+Return the video mode with the specified mode_id.
+
+  Freenect.get_video_mode(mode_id)
+      
+Return the configured video mode.
+
+  Freenect.get_current_video_mode
+      
+Return video mode with specified video_format.
+      
+  Freenect.find_video_mode(video_format)
+
+Return video frame with specified video_mode. This methods blocks until the video frame is available.
+
+  Freenect.get_video(video_mode)
+
+=== Depth Stream
+
+The following methods are used to access and configure the depth stream,
+
+Return the number of supported depth modes.
+
+  Freenect.get_depth_mode_count
+      
+Return the depth mode with the specified mode_id.
+
+  Freenect.get_depth_mode(mode_id)
+      
+Return the configured depth mode.
+
+  Freenect.get_current_depth_mode
+      
+Return depth mode with specified depth_format.
+      
+  Freenect.find_depth_mode(depth_format)
+
+Return video frame with specified video_mode. This methods blocks until the video frame is available.
+
+  Freenect.get_depth(depth_mode)
+   
+=== Tilt
+
+The following methods are used to access and change the kinect tilt configuration,
+
+Set the Kinect tilt to the specified angle.
+
+  Freenect.set_tilt(angle)
+
+Return the Kinect tilt state. Use the following methods to read the tilt state.
+
+  Freenect.get_tilt_state
+
+Return the Kinect tilt angle from the tilt state.
+
+  Freenect.get_tilt(tilt_state)
+      
+Return the Kinect tilt status from the tilt state.
+
+  Freenect.get_tilt_status(tilt_state)
+      
+Return the acceleration vector components from the tilt state
+      
+  Freenect.get_acceleration(tilt_state)
+   
+=== LED
+
+The following methods are used to change the LED status,
+
+  Freenect.set_led(led_option)
+
+The supported values for LED Option are,
+
+* <b>:led_off</b>               Turn LED off
+* <b>:led_green</b>             Turn LED to Green
+* <b>:led_red</b>               Turn LED to Red
+* <b>:led_yellow</b>            Turn LED to Yellow
+* <b>:led_blink_green</b>       Make LED blink Green
+* <b>:led_blink_red_yellow</b>  Make LED blink Red/Yellow
+
+=== Miscellaneous methods
+
+End the current session. 
+
+  Freenect.stop
+
+Return the number of Kinects.
+
+  Freenect.get_device_count
+  
+  
+=== Examples
+
+Several examples can be found at https://github.com/troystribling/ruby-freenect/tree/master/examples. The examples require the ruby-opengl2 gem and the mkrf gem.
+  
+== Install libfreenect
+
+If you have problems visit http://openkinect.org/wiki/Getting_Started#Manual_Build_on_Linux
+
+=== Prerequisites
+
+  sudo apt-get install cmake libglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev
+
+  sudo apt-get install autoconf automake
+
+  sudo apt-get install libltdl3-dev
+
+=== Build and Install libusb
+
+  git clone git://git.libusb.org/libusb.git
+
+  ./autogen.sh
+  make
+  sudo make install
+
+=== Build and Install libfreenect
+
+  git clone git://github.com/OpenKinect/libfreenect.git
+
+  cd libreenect
+  mkdir build
+  cd build
+  cmake ..
+
+  make
+  sudo make install
+
+=== Configure USB Interface
+
+Add the following lines to the file <tt>usr-local-libs.conf</tt>
+
+  /usr/local/lib64
+  /usr/local/lib
+  
+Next enter the following commands
+
+  sudo su root
+  mv usr-local-libs.conf /etc/ld.so.conf.d/usr-local-libs.conf
+  /sbin/ldconfig -v
+
+== Copyright
+
+Copyright (c) 2012 Troy Stribling. See LICENSE.txt for details.

data/Rakefile

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+require 'rubygems'
+require 'rake'
+
+begin
+  require 'jeweler'
+  Jeweler::Tasks.new do |gem|
+    gem.name = "ruby-freenect"
+    gem.summary = gem.description = %Q{Ruby bindings for the libfreenect Kinect driver}
+    gem.homepage = "https://github.com/troystribling/freenect4r"
+    gem.authors = ["Troy Stribling"]
+
+    gem.rdoc_options += ["--title", "FFI Freenect", "--main",  "README.rdoc", "--line-numbers"]
+    gem.add_dependency("ffi", ">= 1.0.11")
+
+    # gem is a Gem::Specification... see http://www.rubygems.org/read/chapter/20 for additional settings
+  end
+  Jeweler::GemcutterTasks.new
+rescue LoadError
+  puts "Jeweler (or a dependency) not available. Install it with: gem install jeweler"
+end
+
+require 'rspec/core/rake_task'
+RSpec::Core::RakeTask.new(:spec) do |t|
+  t.rspec_opts = ["-c", "-f progress", "-r ./spec/spec_helper.rb"]
+  t.pattern = 'spec/**/*_spec.rb'
+end
+
+RSpec::Core::RakeTask.new(:rcov) do |t|
+  t.rcov_opts =  %q[--exclude "spec"]
+end
+
+task :spec => :check_dependencies
+
+task :default => :spec

data/VERSION

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+0.0.0

data/examples/depth.rb

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+$: << File.expand_path(File.join(File.dirname(__FILE__), "../lib")) << File.expand_path(File.dirname(__FILE__))
+require 'rubygems'
+require 'freenect'
+require 'tools'
+require 'opengl'
+include Gl,Glu,Glut
+
+puts "Opening Kinect"
+depth_mode = Freenect.find_depth_mode(:freenect_depth_11bit)
+
+display = lambda do
+  depth_buffer = Freenect.get_depth(depth_mode)
+  glPixelZoom(1.0, -1.0)
+  glRasterPos2i(-1, 1)
+  glDrawPixels(depth_mode[:width], depth_mode[:height], GL_LUMINANCE_ALPHA, GL_UNSIGNED_BYTE, depth_buffer)
+  glutSwapBuffers()
+end
+
+glutInit
+glutInitWindowSize(depth_mode[:width], depth_mode[:height])
+glutInitWindowPosition(100, 100)
+glutCreateWindow($0)
+
+glutDisplayFunc(display)
+glutIdleFunc(display)
+glutKeyboardFunc(sync_keyboard)
+
+glClearColor(0.0, 0.0, 0.0, 0.0)
+glClear(GL_COLOR_BUFFER_BIT)
+
+glutMainLoop

data/examples/ir.rb

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+$: << File.expand_path(File.join(File.dirname(__FILE__), "../lib")) << File.expand_path(File.dirname(__FILE__))
+require 'rubygems'
+require 'freenect'
+require 'tools'
+require 'opengl'
+include Gl,Glu,Glut
+
+puts "Opening Kinect"
+video_mode = Freenect.find_video_mode(:freenect_video_ir_10bit)
+
+display = lambda do
+  video_buffer = Freenect.get_video(video_mode)
+  glPixelZoom(1.0, -1.0)
+  glRasterPos2i(-1, 1)
+  glDrawPixels(video_mode[:width], video_mode[:height], GL_LUMINANCE_ALPHA, GL_UNSIGNED_BYTE, video_buffer)
+  glutSwapBuffers()
+end
+
+glutInit
+glutInitWindowSize(video_mode[:width], video_mode[:height])
+glutInitWindowPosition(100, 100)
+glutCreateWindow($0)
+
+glutDisplayFunc(display)
+glutIdleFunc(display)
+glutKeyboardFunc(sync_keyboard)
+
+glClearColor(0.0, 0.0, 0.0, 0.0)
+glClear(GL_COLOR_BUFFER_BIT)
+
+glutMainLoop

data/examples/kinect.rb

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+$: << File.expand_path(File.join(File.dirname(__FILE__), "../lib")) << File.expand_path(File.dirname(__FILE__))
+require 'freenect'
+require 'tools'
+
+video_mode_count = Freenect.get_video_mode_count
+puts "Video Mode Count: #{video_mode_count}"
+puts "Supported Video Modes"
+video_mode_count.times do |mode_id|
+  frame_mode = Freenect.freenect_get_video_mode(mode_id)
+  puts "Mode ID: #{mode_id}"
+  print_video_mode(frame_mode)
+end 
+
+depth_mode_count = Freenect.get_depth_mode_count
+puts "Depth Mode Count: #{depth_mode_count}"
+puts "Supported Depth Modes"
+depth_mode_count.times do |mode_id|
+  frame_mode = Freenect.freenect_get_depth_mode(mode_id)
+  puts "Mode ID: #{mode_id}"
+  print_depth_mode(frame_mode)
+end 
+
+puts "Find Video Mode with Resoultion ':freenect_resolution_medium' and Format ':freenect_video_rgb'"
+frame_mode = Freenect.find_video_mode(:freenect_video_rgb, :freenect_resolution_medium)
+print_video_mode(frame_mode)
+
+puts "Find Depth Mode with Resoultion ':freenect_resolution_medium' and Format ':freenect_depth_11bit'"
+frame_mode = Freenect.find_depth_mode(:freenect_depth_11bit, :freenect_resolution_medium)
+print_depth_mode(frame_mode)

data/examples/led.rb

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+$: << File.expand_path(File.join(File.dirname(__FILE__), "../lib"))
+require 'freenect'
+
+puts "LED GREEN"
+Freenect.set_led(:led_green)
+sleep(5)
+puts "LED RED"
+Freenect.set_led(:led_red)
+sleep(5)
+puts "LED YELLOW"
+Freenect.set_led(:led_yellow)
+sleep(5)
+puts "LED BLINK GREEN"
+Freenect.set_led(:led_blink_green)
+sleep(5)
+puts "LED BLINK RED/YELLOW"
+Freenect.set_led(:led_blink_red_yellow)
+sleep(5)
+puts "LED OFF"
+Freenect.set_led(:led_off)
+Freenect.stop

data/examples/tilt.rb

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+$: << File.expand_path(File.join(File.dirname(__FILE__), "../lib"))
+require 'freenect'
+
+[-25,-15,0,15,25,0].each do |angle| 
+  puts "Set Tilt Angle: #{angle}"
+  tilt_state = Freenect.get_tilt_state
+  tilt_angle = Freenect.get_tilt(tilt_state)
+  tilt_status = Freenect.get_tilt_status(tilt_state)
+  acc = Freenect.get_acceleration(tilt_state)
+  puts "Current Tilt Angle: #{tilt_angle}"
+  puts "Tilt Status: #{tilt_status}"
+  puts "Acceleration: #{acc.inspect}"
+  Freenect.set_tilt(angle)
+  sleep(10)
+end
+
+Freenect.stop

data/examples/tools.rb

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+def print_video_mode(frame_mode)
+  puts "  Format:                 #{frame_mode[:format][:video_format]}"
+  print_frame_mode(frame_mode)
+end
+
+def print_depth_mode(frame_mode)
+  puts "  Format:                 #{frame_mode[:format][:depth_format]}"
+  print_frame_mode(frame_mode)
+end
+
+def print_frame_mode(frame_mode)
+  puts "  Resolution:             #{frame_mode[:resolution]}"
+  puts "  Bytes:                  #{frame_mode[:bytes]}"
+  puts "  Width:                  #{frame_mode[:width]}"
+  puts "  Height:                 #{frame_mode[:height]}"
+  puts "  Data Bits Per Pixel:    #{frame_mode[:data_bits_per_pixel]}"
+  puts "  Padding Bits Per Pixel: #{frame_mode[:padding_bits_per_pixel]}"
+  puts "  Framerate:              #{frame_mode[:framerate]}"
+  puts "  Is Valid:               #{frame_mode[:is_valid]}"
+end
+
+def print_current_video_mode(device)
+  puts "Current Video Mode"
+  frame_mode = device.get_current_video_mode
+  print_video_mode(frame_mode)
+end
+
+def check_for_kinect(context)
+  kinect_count = context.get_device_count
+  if kinect_count == 0
+    puts "No Kinect Found"
+    exit(1)
+  else
+    puts "Number of Kinects: #{kinect_count}"
+  end
+end
+
+def sync_keyboard
+  tilt = 0
+  lambda do |key, x, y|
+  	case (key.chr)
+    when ('0'..'5')
+      Freenect.set_led Freenect::FREENECT_LED_OPTIONS.symbols[key.chr.to_i]
+    when 'u'
+      Freenect.set_tilt (tilt = [25, tilt + 5].min)
+    when 'd'
+      Freenect.set_tilt (tilt = [-25, tilt - 5].max)
+    when 'c'
+      Freenect.set_tilt (tilt = 0)
+    when 'm'
+      depth_mode = Freenect.get_current_depth_mode
+      if depth_mode
+        puts "Current Depth Mode"
+        print_depth_mode(depth_mode)
+      end
+      video_mode = Freenect.get_current_video_mode
+      if video_mode
+        puts "Current Video Mode"
+        print_video_mode(video_mode)
+      end
+    when 'q'
+      Freenect.set_led :led_off
+      Freenect.set_tilt 0
+      Freenect.stop
+      puts "Closing Kinect"
+      exit(0)
+    end
+  end
+end