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readded missing defines for codeblocks; updated codeblocks_win project
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@danomatika
danomatika committed Oct 23, 2011
1 parent f3c7092 commit af82515
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Showing 2 changed files with 91 additions and 94 deletions.
24 changes: 9 additions & 15 deletions example/ofxKinectExample_win.cbp
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Expand Up @@ -149,15 +149,18 @@
<Add after='cmd /c if not exist &quot;$(PROJECT_DIR)bin/data&quot; mkdir &quot;$(PROJECT_DIR)bin/data&quot;' />
<Mode after="always" />
</ExtraCommands>
<Unit filename="src\main.cpp">
<Option virtualFolder="src\" />
</Unit>
<Unit filename="src\testApp.cpp">
<Option virtualFolder="src\" />
</Unit>
<Unit filename="src\testApp.h">
<Option virtualFolder="src\" />
</Unit>
<Unit filename="..\..\..\addons\ofxKinect\src\ofxBase3DVideo.h" />
<Unit filename="..\..\..\addons\ofxKinect\src\ofxKinect.cpp" />
<Unit filename="..\..\..\addons\ofxKinect\src\ofxKinect.h" />
<Unit filename="..\..\..\addons\ofxKinect\src\ofxKinectCalibration.cpp" />
<Unit filename="..\..\..\addons\ofxKinect\src\ofxKinectCalibration.h" />
<Unit filename="..\..\..\addons\ofxKinect\src\ofxKinectPlayer.cpp" />
<Unit filename="..\..\..\addons\ofxKinect\src\ofxKinectPlayer.h" />
<Unit filename="..\..\..\addons\ofxKinect\src\ofxKinectRecorder.cpp" />
<Unit filename="..\..\..\addons\ofxKinect\src\ofxKinectRecorder.h" />
<Unit filename="..\..\..\addons\ofxOpenCv\src\ofxCvBlob.h" />
<Unit filename="..\..\..\addons\ofxOpenCv\src\ofxCvColorImage.cpp" />
<Unit filename="..\..\..\addons\ofxOpenCv\src\ofxCvColorImage.h" />
Expand All @@ -176,15 +179,6 @@
<Unit filename="..\..\..\addons\ofxOpenCv\src\ofxCvShortImage.cpp" />
<Unit filename="..\..\..\addons\ofxOpenCv\src\ofxCvShortImage.h" />
<Unit filename="..\..\..\addons\ofxOpenCv\src\ofxOpenCv.h" />
<Unit filename="src\main.cpp">
<Option virtualFolder="src\" />
</Unit>
<Unit filename="src\testApp.cpp">
<Option virtualFolder="src\" />
</Unit>
<Unit filename="src\testApp.h">
<Option virtualFolder="src\" />
</Unit>
<Extensions>
<code_completion />
<debugger />
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161 changes: 82 additions & 79 deletions src/ofxKinect.h
View file
Expand Up @@ -4,8 +4,11 @@
#include "libfreenect.h"
#include "ofxBase3DVideo.h"

#ifndef _MSC_VER
#include <libusb.h>
#if defined(_MSC_VER) || defined(_WIN32) || defined(WIN32) || defined(__MINGW32__)
// do windows stuff
#else
// mac and linux need this
#include <libusb.h>
#endif

class ofxKinectContext;
Expand All @@ -19,24 +22,24 @@ class ofxKinectContext;
/// - https://github.com/OpenKinect/libfreenect/blob/master/include/libfreenect.h
///
class ofxKinect : public ofxBase3DVideo, protected ofThread {

public:

ofxKinect();
virtual ~ofxKinect();

/// are the current frames new?
bool isFrameNew();

/// open the connection and start grabbing images
bool open(int id = -1);

/// close the connection and stop grabbing images
void close();

/// distorts the depth image to be aligned to the rgb image
void setUseRegistration(bool bUseRegistration = false);

/// initialize resources, must be called before open()
/// infrared controls whether the video image is rgb or IR
/// set vdeo to false to disabel vidoe image grabbing (saves bandwidth)
Expand All @@ -46,166 +49,166 @@ class ofxKinect : public ofxBase3DVideo, protected ofThread {
/// RGB color will be 0
///
bool init(bool infrared=false, bool video=true, bool texture=true);

/// updates the pixel buffers and textures - make sure to call this to update to the latetst incoming frames
void update();
void update();

/// clear resources, do not call this while ofxKinect is running!
void clear();

/// is the connection currently open?
bool isConnected();

/// get the device id
/// returns -1 if not connected
int getDeviceId();

/// set tilt angle of the camera in degrees
/// 0 is flat, the range is -30 to 30
bool setCameraTiltAngle(float angleInDegrees);

// get camera angle
float getCurrentCameraTiltAngle();
float getTargetCameraTiltAngle();

float getDistanceAt(int x, int y);
float getDistanceAt(const ofPoint & p);

/// calculates the coordinate in the world for the pixel (perspective calculation). Center of image is (0.0)
ofVec3f getWorldCoordinateAt(int cx, int cy);
ofVec3f getWorldCoordinateAt(float cx, float cy, float wz);

ofColor getColorAt(int x, int y);
ofColor getColorAt(const ofPoint & p);

ofColor getCalibratedColorAt(int x, int y);
ofColor getCalibratedColorAt(const ofPoint & p);

float getHeight();
float getWidth();

ofPoint getRawAccel();
ofPoint getMksAccel();
ofPoint getMksAccel();

/// get the pixels of the most recent rgb frame
unsigned char * getPixels();

/// get the pixels of the most recent depth frame
unsigned char * getDepthPixels(); // grey scale values
unsigned short * getRawDepthPixels(); // raw 11 bit values

// get the rgb pixels corrected to match the depth frame
unsigned char * getCalibratedRGBPixels();

/// get the distance in millimeters to a given point
float* getDistancePixels();

/// get the rgb texture
ofTexture & getTextureReference();

/// get the greyscale depth texture
ofTexture & getDepthTextureReference();

/// for 007 compatibility
ofPixels & getPixelsRef();

/**
set the near value of the pixels in the greyscale depth image to white?
bEnabled = true : pixels close to the camera are brighter (default)
bEnabled = false: pixels closer to the camera are darker
**/
void enableDepthNearValueWhite(bool bEnabled=true);
bool isDepthNearValueWhite();
void setClippingInMillimeters(float nearClipping = 500, float farClipping = 4000);

void setVerbose(bool bTalkToMe);

void setUseTexture(bool bUse);
void draw(float x, float y, float w, float h);
void draw(float x, float y);
void draw(const ofPoint & point);
void draw(const ofRectangle & rect);

void drawDepth(float x, float y, float w, float h);
void drawDepth(float x, float y);
void drawDepth(const ofPoint & point);
void drawDepth(const ofRectangle & rect);

const static int width = 640;
const static int height = 480;

/// \section Static global kinect context functions

/// get the total number of devices
static int numTotalDevices();

/// get the number of available devices (not connected)
static int numAvailableDevices();

/// get the number of currently connected devices
static int numConnectedDevices();

/// is the an id already connected?
static bool isDeviceConnected(int id);

/// get the id of the next available device,
/// returns -1 if nothing found
static int nextAvailableId();

protected:

bool bUseTexture;
ofTexture depthTex; // the depth texture
ofTexture videoTex; // the RGB texture
bool bVerbose;
bool bGrabberInited;

ofPixels pixels;
unsigned char * videoPixels;
unsigned short * depthPixelsRaw;

ofPoint rawAccel;
ofPoint mksAccel;

float targetTiltAngleDeg;
float currentTiltAngleDeg;
bool bTiltNeedsApplying;

private:

friend class ofxKinectContext;

// global statics shared between kinect instances
static ofxKinectContext kinectContext;

freenect_device * kinectDevice; // kinect device handle

unsigned short * depthPixelsBack; // depth back
unsigned char * videoPixelsBack; // rgb back

unsigned char * depthPixels;
float * distancePixels;
vector<unsigned char> depthLookupTable;
void updateDepthLookupTable();
void updateDepthPixels();

bool bIsFrameNew;
bool bNeedsUpdate;
bool bUpdateTex;
bool bGrabVideo;
bool bUseRegistration;
bool bNearWhite;

float nearClipping, farClipping;

bool bInfrared;
int bytespp;

// libfreenect callbacks
static void grabDepthFrame(freenect_device *dev, void *depth, uint32_t timestamp);
static void grabRgbFrame(freenect_device *dev, void *rgb, uint32_t timestamp);

// thread function
void threadedFunction();
};
Expand All @@ -217,65 +220,65 @@ class ofxKinect : public ofxBase3DVideo, protected ofThread {
/// do not use this directly
///
class ofxKinectContext {

public:

ofxKinectContext();
~ofxKinectContext();

/// \section Main

/// init the freenect context
bool init();

/// clear the freenect context
/// closes all currently connected devices
void clear();

/// is the context inited?
bool isInited();

/// open a kinect device
/// an id of -1 will open the first available
bool open(ofxKinect& kinect, int id=-1);

/// close a kinect device
void close(ofxKinect& kinect);

/// closes all currently connected kinects
void closeAll();

/// \section Util

/// get the total number of devices
int numTotal();

/// get the number of available devices (not connected)
int numAvailable();

/// get the number of currently connected devices
int numConnected();

/// get the device id of a kinect object
/// returns index or -1 if not connected
int getId(ofxKinect& kinect);

/// get the kinect object from a device pointer
/// returns NULL if not found
ofxKinect* getKinect(freenect_device* dev);

/// is the an id already connected?
bool isConnected(int id);

/// get the id of the next available device,
/// returns -1 if nothing found
int nextAvailableId();

/// get the raw pointer
freenect_context* getContext() {return kinectContext;}

private:

freenect_context * kinectContext; // kinect context handle
std::map<int,ofxKinect*> kinects; // the connected kinects
};
};

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