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/*
* This file is part of the OpenKinect Project. http://www.openkinect.org
*
* Copyright (c) 2010 Brandyn White (bwhite@dappervision.com)
* Copyright (c) 2016 Luke Shumaker (lukeshu@sbcglobal.net)
*
* This code is licensed to you under the terms of the Apache License, version
* 2.0, or, at your option, the terms of the GNU General Public License,
* version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
* or the following URLs:
* http://www.apache.org/licenses/LICENSE-2.0
* http://www.gnu.org/licenses/gpl-2.0.txt
*
* If you redistribute this file in source form, modified or unmodified, you
* may:
* 1) Leave this header intact and distribute it under the same terms,
* accompanying it with the APACHE20 and GPL20 files, or
* 2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
* 3) Delete the GPL v2 clause and accompany it with the APACHE20 file
* In all cases you must keep the copyright notice intact and include a copy
* of the CONTRIB file.
*
* Binary distributions must follow the binary distribution requirements of
* either License.
*/
#include <errno.h>
#include <error.h>
#include <stdio.h>
#include <stdlib.h> /* atexit */
#include <unistd.h> /* dup2 */
#include <libfreenect/libfreenect.h>
#include <libusb-1.0/libusb.h>
#include "util.h"
FILE *depth_stream = NULL;
FILE *video_stream = NULL;
FILE *accel_stream = NULL;
freenect_context *ctx;
void dump_ffmpeg_24(FILE *stream, uint32_t timestamp UNUSED, void *data,
size_t data_size)
{
fwrite(data, data_size, 1, stream);
}
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) {
uint16_t z = *data;
uint8_t out[3];
memset(out, (uint8_t)(z*2.0/3.0), 3);
fwrite(out, 3, 1, stream);
data = &data[1];
}
}
void handle_accel(freenect_device *dev UNUSED, freenect_raw_tilt_state* data)
{
double x, y, z, angle;
freenect_get_mks_accel(data, &x, &y, &z);
angle = freenect_get_tilt_degs(data);
const char *motor;
switch (data->tilt_status) {
case TILT_STATUS_STOPPED:
motor = "stopped";
case TILT_STATUS_LIMIT:
motor = "limit";
case TILT_STATUS_MOVING:
motor = "moving";
default:
motor = "unknown";
}
char *json = NULL;
int len = asprintf(&json,
"{ \"x\": %f,\n"
" \"y\": %f,\n"
" \"z\": %f,\n"
" \"angle\": %f,\n"
" \"motor\": \"%s\" }\n",
x, y, z, angle, motor);
if (len < 0)
error(EXIT_FAILURE, errno, "asprintf");
fprintf(accel_stream,
"--ffserver\r\n"
"Content-type: application/json\r\n"
"Content-length: %d\r\n"
"\r\n"
"%s\r\n",
len, json);
}
void handle_depth(freenect_device *dev UNUSED, void *depth, uint32_t timestamp)
{
dump_ffmpeg_pad16(depth_stream, timestamp, depth,
freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM,
FREENECT_DEPTH_11BIT).bytes);
}
void handle_video(freenect_device *dev, void *rgb, uint32_t timestamp)
{
dump_ffmpeg_24(video_stream, timestamp, rgb,
freenect_get_current_video_mode(dev).bytes);
}
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 cleanup() {
if (ctx)
freenect_shutdown(ctx);
if (video_stream)
fclose(video_stream);
if (depth_stream)
fclose(depth_stream);
if (accel_stream)
fclose(accel_stream);
}
void usage() {
printf("Usage: %s [-h] [-v video.rgb24] [-d depth.rgb24] [-a accel.txt]\n", program_invocation_name);
}
int main(int argc, char *argv[]) {
int res = 0;
freenect_device *dev;
atexit(cleanup);
for (int i = 1; i < argc; i++) {
if (argv[i][0] == '-' && argv[i][1] != '\0' && argv[i][2] == '\0') {
switch (argv[i][1]) {
case 'h':
usage();
return EXIT_SUCCESS;
case 'v':
i++;
video_stream = fopen(argv[i], "w");
if (video_stream == NULL)
error(EXIT_FAILURE, errno, "fopen: %s", argv[i]);
break;
case 'd':
i++;
depth_stream = fopen(argv[i], "w");
if (video_stream == NULL)
error(EXIT_FAILURE, errno, "fopen: %s", argv[i]);
break;
case 'a':
i++;
accel_stream = fopen(argv[i], "w");
if (video_stream == NULL)
error(EXIT_FAILURE, errno, "fopen: %s", argv[i]);
break;
default:
dup2(2, 1);
usage();
return EXIT_FAILURE;
}
} else {
dup2(2, 1);
usage();
return EXIT_FAILURE;
}
}
res = freenect_init(&ctx, 0);
if (res) {
error(EXIT_FAILURE, 0, "freenect_init: %s", libusb_strerror(res));
}
freenect_device_flags devices = 0;
if (video_stream || depth_stream)
devices |= FREENECT_DEVICE_CAMERA;
if (accel_stream)
devices |= FREENECT_DEVICE_MOTOR;
freenect_select_subdevices(ctx, devices);
if ((res = freenect_open_device(ctx, &dev, 0))) {
error(EXIT_FAILURE, 0, "freenect_open_device: %s", libusb_strerror(res));
}
if (video_stream) {
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);
freenect_set_video_callback(dev, handle_video);
}
if (depth_stream) {
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);
freenect_set_depth_callback(dev, handle_depth);
}
while (freenect_process_events(ctx) >= 0) {
if (accel_stream) {
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);
}
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