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CinderFreenect.cpp
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CinderFreenect.cpp
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/*
Copyright (c) 2010, The Cinder Project, All rights reserved.
This code is intended for use with the Cinder C++ library: http://libcinder.org
Portions copyright Rui Madeira: http://ruim.pt
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and
the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and
the following disclaimer in the documentation and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED
WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
*/
#include "CinderFreenect.h"
#include "libfreenect.h"
using namespace std;
namespace cinder {
// statics
std::mutex Kinect::sContextMutex;
freenect_context* Kinect::sContext = 0;
class ImageSourceKinectColor : public ImageSource {
public:
ImageSourceKinectColor( uint8_t *buffer, shared_ptr<Kinect::Obj> ownerObj )
: ImageSource(), mOwnerObj( ownerObj ), mData( buffer )
{
setSize( 640, 480 );
setColorModel( ImageIo::CM_RGB );
setChannelOrder( ImageIo::RGB );
setDataType( ImageIo::UINT8 );
}
~ImageSourceKinectColor()
{
// let the owner know we are done with the buffer
mOwnerObj->mColorBuffers.derefBuffer( mData );
}
virtual void load( ImageTargetRef target )
{
ImageSource::RowFunc func = setupRowFunc( target );
for( int32_t row = 0; row < 480; ++row )
((*this).*func)( target, row, mData + row * 640 * 3 );
}
protected:
shared_ptr<Kinect::Obj> mOwnerObj;
uint8_t *mData;
};
class ImageSourceKinectInfrared : public ImageSource {
public:
ImageSourceKinectInfrared( uint8_t *buffer, shared_ptr<Kinect::Obj> ownerObj )
: ImageSource(), mOwnerObj( ownerObj ), mData( buffer )
{
setSize( 640, 480 );
setColorModel( ImageIo::CM_GRAY );
setChannelOrder( ImageIo::Y );
setDataType( ImageIo::UINT8 );
}
~ImageSourceKinectInfrared()
{
// let the owner know we are done with the buffer
mOwnerObj->mColorBuffers.derefBuffer( mData );
}
virtual void load( ImageTargetRef target )
{
ImageSource::RowFunc func = setupRowFunc( target );
for( int32_t row = 0; row < 480; ++row )
((*this).*func)( target, row, mData + row * 640 * 1 );
}
protected:
shared_ptr<Kinect::Obj> mOwnerObj;
uint8_t *mData;
};
class ImageSourceKinectDepth : public ImageSource {
public:
ImageSourceKinectDepth( uint16_t *buffer, shared_ptr<Kinect::Obj> ownerObj )
: ImageSource(), mOwnerObj( ownerObj ), mData( buffer )
{
setSize( 640, 480 );
setColorModel( ImageIo::CM_GRAY );
setChannelOrder( ImageIo::Y );
setDataType( ImageIo::UINT16 );
}
~ImageSourceKinectDepth()
{
// let the owner know we are done with the buffer
mOwnerObj->mDepthBuffers.derefBuffer( mData );
}
virtual void load( ImageTargetRef target )
{
ImageSource::RowFunc func = setupRowFunc( target );
for( int32_t row = 0; row < 480; ++row )
((*this).*func)( target, row, mData + row * 640 );
}
protected:
shared_ptr<Kinect::Obj> mOwnerObj;
uint16_t *mData;
};
// Used as the deleter for the shared_ptr returned by getImageData() and getDepthData()
template<typename T>
class KinectDataDeleter {
public:
KinectDataDeleter( Kinect::Obj::BufferManager<T> *bufferMgr, shared_ptr<Kinect::Obj> ownerObj )
: mOwnerObj( ownerObj ), mBufferMgr( bufferMgr )
{}
void operator()( T *data ) {
mBufferMgr->derefBuffer( data );
}
shared_ptr<Kinect::Obj> mOwnerObj; // to prevent deletion of our parent Obj
Kinect::Obj::BufferManager<T> *mBufferMgr;
};
Kinect::Kinect( Device device )
: mObj( new Obj( device.mIndex, device.mDepthRegister ) )
{
}
Kinect::Obj::Obj( int deviceIndex, bool depthRegister )
: mColorBuffers( 640 * 480 * 3, this ), mDepthBuffers( 640 * 480, this ),
mShouldDie( false ), mVideoInfrared( false ),
mNewVideoFrame( false ), mNewDepthFrame( false ),
mDepthRegister( depthRegister )
{
if( freenect_open_device( getContext(), &mDevice, deviceIndex ) < 0 )
throw ExcFailedOpenDevice();
freenect_set_user( mDevice, this );
freenect_update_tilt_state( mDevice );
mTilt = freenect_get_tilt_degs( freenect_get_tilt_state( mDevice ) );
freenect_set_led( mDevice, ::LED_GREEN );
freenect_set_depth_callback( mDevice, depthImageCB );
freenect_set_video_callback( mDevice, colorImageCB );
freenect_set_video_mode( mDevice, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB) );
if( depthRegister ) {
freenect_set_depth_mode( mDevice, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_REGISTERED));
}
else {
freenect_set_depth_mode( mDevice, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT));
}
mLastVideoFrameInfrared = mVideoInfrared;
mThread = shared_ptr<thread>( new thread( threadedFunc, this ) );
}
Kinect::Obj::~Obj()
{
mShouldDie = true;
mThread->join();
}
void Kinect::colorImageCB( freenect_device *dev, void *rgb, uint32_t timestamp )
{
Kinect::Obj *kinectObj = reinterpret_cast<Kinect::Obj*>( freenect_get_user( dev ) );
{
lock_guard<recursive_mutex> lock( kinectObj->mMutex );
kinectObj->mColorBuffers.derefActiveBuffer(); // finished with current active buffer
uint8_t *destPixels = kinectObj->mColorBuffers.getNewBuffer(); // request a new buffer
if( kinectObj->mVideoInfrared )
memcpy( destPixels, rgb, 640 * 480 * sizeof(uint8_t) ); // blast the pixels in
else
memcpy( destPixels, rgb, 640 * 480 * 3 * sizeof(uint8_t) ); // blast the pixels in
kinectObj->mColorBuffers.setActiveBuffer( destPixels ); // set this new buffer to be the current active buffer
kinectObj->mNewVideoFrame = true; // flag that there's a new color frame
kinectObj->mLastVideoFrameInfrared = kinectObj->mVideoInfrared;
}
}
void Kinect::depthImageCB( freenect_device *dev, void *d, uint32_t timestamp )
{
Kinect::Obj *kinectObj = reinterpret_cast<Kinect::Obj*>( freenect_get_user( dev ) );
{
lock_guard<recursive_mutex> lock( kinectObj->mMutex );
uint16_t *depth = reinterpret_cast<uint16_t*>( d );
kinectObj->mDepthBuffers.derefActiveBuffer(); // finished with current active buffer
uint16_t *destPixels = kinectObj->mDepthBuffers.getNewBuffer(); // request a new buffer
if( kinectObj->mDepthRegister ) {
for( size_t p = 0; p < 640 * 480; ++p ) { // max depth value is 10000 in registered mode
uint32_t v = depth[p];
destPixels[p] = ( v == 0 ) ? 0 : ( 65535 - ( v << 2 ) );
}
}
else {
for( size_t p = 0; p < 640 * 480; ++p ) { // out = 1.0 - ( in / 2048 ) ^ 2
uint32_t v = depth[p];
destPixels[p] = 65535 - ( ( v * v ) >> 4 ); // 1 / ( 2^10 * 2^10 ) * 2^16 = 2^-4
}
}
kinectObj->mDepthBuffers.setActiveBuffer( destPixels ); // set this new buffer to be the current active buffer
kinectObj->mNewDepthFrame = true; // flag that there's a new depth frame
}
}
void Kinect::threadedFunc( Kinect::Obj *kinectObj )
{
ci::ThreadSetup ts;
freenect_start_depth( kinectObj->mDevice );
freenect_start_video( kinectObj->mDevice );
while( ( ! kinectObj->mShouldDie ) && ( freenect_process_events( getContext() ) >= 0 ) )
;
freenect_close_device( kinectObj->mDevice );
}
freenect_context* Kinect::getContext()
{
// ultimately this should be replaced with a call_once
lock_guard<mutex> contextLock( sContextMutex );
if( ! sContext ) {
if( freenect_init( &sContext, NULL ) < 0 )
; // throw ExcFailedFreenectInit(); // this seems to always fail
freenect_set_log_level( sContext, FREENECT_LOG_ERROR );
}
return sContext;
}
int Kinect::getNumDevices()
{
try {
return freenect_num_devices( getContext() );
}
catch( ExcFailedFreenectInit &e ) { // a failed initialization implies 0 kinects.
return 0;
}
}
bool Kinect::checkNewVideoFrame()
{
lock_guard<recursive_mutex> lock( mObj->mMutex );
bool oldValue = mObj->mNewVideoFrame;
mObj->mNewVideoFrame = false;
return oldValue;
}
bool Kinect::checkNewDepthFrame()
{
lock_guard<recursive_mutex> lock( mObj->mMutex );
bool oldValue = mObj->mNewDepthFrame;
mObj->mNewDepthFrame = false;
return oldValue;
}
void Kinect::setTilt( float degrees )
{
mObj->mTilt = math<float>::clamp( degrees, -31, 31 );
freenect_set_tilt_degs( mObj->mDevice, mObj->mTilt );
}
float Kinect::getTilt() const
{
return mObj->mTilt;
}
void Kinect::setLedColor( LedColor ledColorCode )
{
int code = ledColorCode;
freenect_set_led( mObj->mDevice, (freenect_led_options)code );
}
vec3 Kinect::getAccel() const
{
dvec3 raw;
freenect_update_tilt_state( mObj->mDevice );
freenect_get_mks_accel( freenect_get_tilt_state( mObj->mDevice ), &raw.x, &raw.y, &raw.z );
return vec3( raw );
}
ImageSourceRef Kinect::getVideoImage()
{
// register a reference to the active buffer
uint8_t *activeColor = mObj->mColorBuffers.refActiveBuffer();
if( mObj->mLastVideoFrameInfrared )
return ImageSourceRef( new ImageSourceKinectInfrared( activeColor, this->mObj ) );
else
return ImageSourceRef( new ImageSourceKinectColor( activeColor, this->mObj ) );
}
ImageSourceRef Kinect::getDepthImage()
{
// register a reference to the active buffer
uint16_t *activeDepth = mObj->mDepthBuffers.refActiveBuffer();
return ImageSourceRef( new ImageSourceKinectDepth( activeDepth, this->mObj ) );
}
std::shared_ptr<uint8_t> Kinect::getVideoData()
{
// register a reference to the active buffer
uint8_t *activeColor = mObj->mColorBuffers.refActiveBuffer();
return shared_ptr<uint8_t>( activeColor, KinectDataDeleter<uint8_t>( &mObj->mColorBuffers, mObj ) );
}
std::shared_ptr<uint16_t> Kinect::getDepthData()
{
// register a reference to the active buffer
uint16_t *activeDepth = mObj->mDepthBuffers.refActiveBuffer();
return shared_ptr<uint16_t>( activeDepth, KinectDataDeleter<uint16_t>( &mObj->mDepthBuffers, mObj ) );
}
void Kinect::setVideoInfrared( bool infrared )
{
if( mObj->mVideoInfrared != infrared ) {
freenect_stop_video( mObj->mDevice );
{
lock_guard<recursive_mutex> lock( mObj->mMutex );
mObj->mVideoInfrared = infrared;
if( mObj->mVideoInfrared )
freenect_set_video_mode( mObj->mDevice, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_IR_8BIT) );
else
freenect_set_video_mode( mObj->mDevice, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB) );
}
freenect_start_video( mObj->mDevice );
}
}
// Buffer management
template<typename T>
Kinect::Obj::BufferManager<T>::~BufferManager()
{
for( typename map<T*,size_t>::iterator bufIt = mBuffers.begin(); bufIt != mBuffers.end(); ++bufIt ) {
delete [] bufIt->first;
}
}
template<typename T>
T* Kinect::Obj::BufferManager<T>::getNewBuffer()
{
lock_guard<recursive_mutex> lock( mKinectObj->mMutex );
typename map<T*,size_t>::iterator bufIt;
for( bufIt = mBuffers.begin(); bufIt != mBuffers.end(); ++bufIt ) {
if( bufIt->second == 0 ) // 0 means free buffer
break;
}
if( bufIt != mBuffers.end() ) {
bufIt->second = 1;
return bufIt->first;
}
else { // there were no available buffers - add a new one and return it
T *newBuffer = new T[mAllocationSize];
mBuffers[newBuffer] = 1;
return newBuffer;
}
}
template<typename T>
void Kinect::Obj::BufferManager<T>::setActiveBuffer( T *buffer )
{
lock_guard<recursive_mutex> lock( mKinectObj->mMutex );
// assign new active buffer
mActiveBuffer = buffer;
}
template<typename T>
T* Kinect::Obj::BufferManager<T>::refActiveBuffer()
{
lock_guard<recursive_mutex> lock( mKinectObj->mMutex );
mBuffers[mActiveBuffer]++;
return mActiveBuffer;
}
template<typename T>
void Kinect::Obj::BufferManager<T>::derefActiveBuffer()
{
lock_guard<recursive_mutex> lock( mKinectObj->mMutex );
if( mActiveBuffer ) // decrement use count on current active buffer
mBuffers[mActiveBuffer]--;
}
template<typename T>
void Kinect::Obj::BufferManager<T>::derefBuffer( T *buffer )
{
lock_guard<recursive_mutex> lock( mKinectObj->mMutex );
mBuffers[buffer]--;
}
} // namespace cinder