1 files changed, 0 insertions, 122 deletions
diff --git a/thread_kinect.c b/thread_kinect.c
deleted file mode 100644
index bd70679..0000000
--- a/thread_kinect.c
+++ /dev/null
@@ -1,122 +0,0 @@
-#include <error.h>
-#include <libfreenect/libfreenect.h>
-#include <libusb-1.0/libusb.h>
-#include <pthread.h>
-#include <stdio.h>
-#include <unistd.h>
-
-#include "main.h"
-
-FILE *depth_stream = NULL;
-FILE *video_stream = NULL;
-FILE *accel_stream = NULL;
-
-static
-void dump_ffmpeg_24(FILE *stream, uint32_t timestamp UNUSED, void *data,
-                    size_t data_size)
-{
-	fwrite(data, data_size, 1, stream);
-}
-
-static
-void dump_ffmpeg_pad16(FILE *stream, uint32_t timestamp UNUSED, void *data_anon,
-                       size_t data_size)
-{
-	uint16_t* data = data_anon;
-	uint16_t* end = (void*)&((char*)data_anon)[data_size];
-	while (data < end) {
-		uint32_t z = *data;
-		fwrite(((char*)(&z)), 3, 1, stream);
-		data = &data[1];
-	}
-}
-
-static
-void handle_accel(freenect_device *dev UNUSED, freenect_raw_tilt_state* data)
-{
-	double x, y, z;
-	freenect_get_mks_accel(data, &x, &y, &z);
-	//fprintf(accel_stream, "x=%f\ty=%f\tz=%f\n", x, y, z);
-}
-
-static
-void handle_depth(freenect_device *dev UNUSED, void *depth, uint32_t timestamp)
-{
-	printf("handle depth\n");
-	dump_ffmpeg_pad16(depth_stream, timestamp, depth,
-	                  freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM,
-	                                           FREENECT_DEPTH_11BIT).bytes);
-}
-
-static
-void handle_video(freenect_device *dev, void *rgb, uint32_t timestamp)
-{
-	printf("handle depth\n");
-	dump_ffmpeg_24(video_stream, timestamp, rgb,
-	               freenect_get_current_video_mode(dev).bytes);
-}
-
-static
-void print_mode(const char *name, freenect_frame_mode mode) {
-	/* This is just a courtesy function to let the user know the mode
-	   if it becomes a bother for maintainability just comment out the
-	   code in its body.  It will only break if struct entries go missing.
-	*/
-	printf("%s Mode: {%d, %d, {%d}, %d, %d, %d, %d, %d, %d, %d}\n", name,
-	       mode.reserved, (int)mode.resolution, (int)mode.video_format, mode.bytes, mode.width,
-	       mode.height, mode.data_bits_per_pixel, mode.padding_bits_per_pixel,
-	       mode.framerate, mode.is_valid);
-}
-
-void thread_kinect(int video_fd, int depth_fd, int accel_fd) {
-	int res = 0;
-
-	freenect_context *ctx;
-	freenect_device *dev;
-
-	pthread_setname_np(pthread_self(), "libusb");
-	res = freenect_init(&ctx, 0);
-	pthread_setname_np(pthread_self(), "kinect");
-	if (res) {
-		error(0, 0, "freenect_init: %s", libusb_strerror(res));
-		goto end;
-	}
-
-	freenect_select_subdevices(ctx, (freenect_device_flags)(FREENECT_DEVICE_CAMERA | FREENECT_DEVICE_MOTOR));
-	if ((res = freenect_open_device(ctx, &dev, 0))) {
-		error(0, 0, "freenect_open_device: %s", libusb_strerror(res));
-		goto end; 
-	}
-
-	print_mode("Depth", freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT));
-	freenect_set_depth_mode(dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT));
-	freenect_start_depth(dev);
-
-	print_mode("Video", freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB));
-	freenect_set_video_mode(dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB));
-	freenect_start_video(dev);
-
-	depth_stream = fdopen(depth_fd, "w");
-	video_stream = fdopen(video_fd, "w");
-	accel_stream = fdopen(accel_fd, "w");
-
-	freenect_set_depth_callback(dev, handle_depth);
-	freenect_set_video_callback(dev, handle_video);
-
-	while (running && freenect_process_events(ctx) >= 0) {
-		freenect_raw_tilt_state* state;
-		freenect_update_tilt_state(dev);
-		state = freenect_get_tilt_state(dev);
-		handle_accel(dev, state);
-	}
-
-	freenect_stop_depth(dev);
-	freenect_stop_video(dev);
-	freenect_close_device(dev);
-
- end:
-	freenect_shutdown(ctx);
-	close(video_fd);
-	close(depth_fd);
-	close(accel_fd);
-}