begin require 'rubygems' rescue LoadError #nop end require 'ffi' module FFI::Freenect extend FFI::Library ffi_lib 'freenect', 'freenect_sync' FRAME_W = 640 FRAME_H = 480 FRAME_PIX = FRAME_W * FRAME_H IR_FRAME_W = 640 IR_FRAME_H = 488 IR_FRAME_PIX = FRAME_W * FRAME_H RGB_SIZE = FRAME_PIX * 3 BAYER_SIZE = FRAME_PIX YUV_RGB_SIZE = RGB_SIZE YUV_RAW_SIZE = FRAME_PIX * 2 IR_8BIT_SIZE = IR_FRAME_PIX IR_10BIT_SIZE = IR_FRAME_PIX * 2 IR_10BIT_PACKED_SIZE = 390400 DEPTH_11BIT_SIZE = FRAME_PIX * 2 DEPTH_10BIT_SIZE = DEPTH_11BIT_SIZE DEPTH_11BIT_PACKED_SIZE = 422400 DEPTH_10BIT_PACKED_SIZE = 384000 COUNTS_PER_G = 819 LED_OFF = 0 LED_GREEN = 1 LED_RED = 2 LED_YELLOW = 3 LED_BLINK_YELLOW = 4 LED_BLINK_GREEN = 5 LED_BLINK_RED_YELLOW = 6 LED_OPTIONS = enum( :off, LED_OFF, :green, LED_GREEN, :red, LED_RED, :yellow, LED_YELLOW, :blink_yellow, LED_BLINK_YELLOW, :blink_green, LED_BLINK_GREEN, :blink_red_yellow, LED_BLINK_RED_YELLOW) VIDEO_RGB = 0 VIDEO_BAYER = 1 VIDEO_IR_8BIT = 2 VIDEO_IR_10BIT = 3 VIDEO_IR_10BIT_PACKED = 4 VIDEO_YUV_RGB = 5 VIDEO_YUV_RAW = 6 VIDEO_FORMATS = enum( :rgb, VIDEO_RGB, :bayer, VIDEO_BAYER, :ir_8bit, VIDEO_IR_8BIT, :ir_10bit, VIDEO_IR_10BIT, :yuv_rgb, VIDEO_YUV_RGB, :yuv_raw, VIDEO_YUV_RAW, :ir_10bit_packed, VIDEO_IR_10BIT_PACKED) VIDEO_SIZES = enum( :rgb, RGB_SIZE, :bayer, BAYER_SIZE, :ir_8bit, IR_8BIT_SIZE, :ir_10bit, IR_10BIT_SIZE, :yuv_rgb, YUV_RGB_SIZE, :yuv_raw, YUV_RAW_SIZE, :ir_10bit_packed, IR_10BIT_PACKED_SIZE ) RESOLUTION_LOW = 0 RESOLUTION_MEDIUM = 1 RESOLUTION_HIGH = 2 RESOLUTIONS = enum( :low, RESOLUTION_LOW, :medium, RESOLUTION_MEDIUM, :high, RESOLUTION_HIGH) DEPTH_11BIT = 0 DEPTH_10BIT = 1 DEPTH_11BIT_PACKED = 2 DEPTH_10BIT_PACKED = 3 DEPTH_FORMATS = enum( :depth_11bit, DEPTH_11BIT, :depth_10bit, DEPTH_10BIT, :depth_11bit_packed, DEPTH_11BIT_PACKED, :depth_10bit_packed, DEPTH_10BIT_PACKED) DEPTH_SIZES = enum( :depth_11bit, DEPTH_11BIT_SIZE, :depth_10bit, DEPTH_10BIT_SIZE, :depth_11bit_packed, DEPTH_11BIT_PACKED_SIZE, :depth_10bit_packed, DEPTH_10BIT_PACKED_SIZE ) TILT_STATUS_STOPPED = 0x00 TILT_STATUS_LIMIT = 0x01 TILT_STATUS_MOVING = 0x04 TILT_STATUS_CODES = enum( :stopped, TILT_STATUS_STOPPED, :limit, TILT_STATUS_LIMIT, :moving, TILT_STATUS_MOVING) DEVICE_MOTOR = 0x01 DEVICE_CAMERA = 0x02 DEVICE_AUDIO = 0x04 DEVICES = enum( :motor, DEVICE_MOTOR, :camera, DEVICE_CAMERA, :audio, DEVICE_AUDIO) LOG_FATAL = 0 LOG_ERROR = 1 LOG_WARNING = 2 LOG_NOTICE = 3 LOG_INFO = 4 LOG_DEBUG = 5 LOG_SPEW = 6 LOG_FLOOD = 7 LOGLEVELS = enum( :fatal, LOG_FATAL, :error, LOG_ERROR, :warning, LOG_WARNING, :notice, LOG_NOTICE, :info, LOG_INFO, :debug, LOG_DEBUG, :spew, LOG_SPEW, :flood, LOG_FLOOD) typedef :pointer, :freenect_context typedef :pointer, :freenect_device typedef :pointer, :freenect_usb_context # actually a libusb_context class FrameModeFormat < FFI::Union layout :dummy, :int32, :video_format, VIDEO_FORMATS, :depth_format, DEPTH_FORMATS end class FrameMode < FFI::Struct layout :reserved, :uint32, :resolution, RESOLUTIONS, :format, FrameModeFormat, :bytes, :int32, :width, :int16, :height, :int16, :data_bits_per_pixel, :int8, :padding_bits_per_pixel, :int8, :framerate, :int8, :is_valid, :int8 def is_valid? self[:is_valid] != 0 end def framerate; self[:framerate]; end def padding_bits_per_pixel; self[:padding_bits_per_pixel]; end def data_bits_per_pixel; self[:data_bits_per_pixel]; end def height; self[:height]; end def width; self[:width]; end def bytes; self[:bytes]; end def resolution; self[:resolution]; end def video_format; self[:format][:video_format]; end def depth_format; self[:format][:depth_format]; end attr_accessor :frame_mode_type def format case self.frame_mode_type when :video self.video_format when :depth self.depth_format else nil end end def to_s "#" end end class RawTiltState < FFI::Struct layout :accelerometer_x, :int16, :accelerometer_y, :int16, :accelerometer_z, :int16, :tilt_angle, :int8, :tilt_status, TILT_STATUS_CODES def accelerometer [self[:accelerometer_x], self[:accelerometer_y], self[:accelerometer_z]] end def angle; self[:tilt_angle]; end def status; self[:tilt_status]; end def to_s "#" end end callback :freenect_log_cb, [:freenect_context, LOGLEVELS, :string], :void callback :freenect_depth_cb, [:freenect_device, :pointer, :uint32], :void callback :freenect_video_cb, [:freenect_device, :pointer, :uint32], :void attach_function :freenect_set_log_level, [:freenect_context, LOGLEVELS], :void attach_function :freenect_set_log_callback, [:freenect_context, :freenect_log_cb], :void attach_function :freenect_process_events, [:freenect_context], :int attach_function :freenect_num_devices, [:freenect_context], :int attach_function :freenect_select_subdevices, [:freenect_context, DEVICES], :void attach_function :freenect_open_device, [:freenect_context, :freenect_device, :int], :int attach_function :freenect_close_device, [:freenect_device], :int attach_function :freenect_init, [:freenect_context, :freenect_usb_context], :int attach_function :freenect_shutdown, [:freenect_context], :int attach_function :freenect_set_user, [:freenect_device, :pointer], :void attach_function :freenect_get_user, [:freenect_device], :pointer attach_function :freenect_set_depth_callback, [:freenect_device, :freenect_depth_cb], :void attach_function :freenect_set_video_callback, [:freenect_device, :freenect_video_cb], :void attach_function :freenect_set_depth_buffer, [:freenect_device, :void], :int attach_function :freenect_set_video_buffer, [:freenect_device, :void], :int attach_function :freenect_start_depth, [:freenect_device], :int attach_function :freenect_start_video, [:freenect_device], :int attach_function :freenect_stop_depth, [:freenect_device], :int attach_function :freenect_stop_video, [:freenect_device], :int attach_function :freenect_update_tilt_state, [:freenect_device], :int attach_function :freenect_get_tilt_state, [:freenect_device], RawTiltState attach_function :freenect_get_tilt_degs, [:freenect_device], :double attach_function :freenect_set_tilt_degs, [:freenect_device, :double], :int attach_function :freenect_set_led, [:freenect_device, LED_OPTIONS], :int attach_function :freenect_get_mks_accel, [RawTiltState, :pointer, :pointer, :pointer], :void attach_function :freenect_get_video_mode_count, [], :int attach_function :freenect_get_video_mode, [:int], FrameMode.by_value attach_function :freenect_get_current_video_mode, [:freenect_device], FrameMode.by_value attach_function :freenect_find_video_mode, [RESOLUTIONS, VIDEO_FORMATS], FrameMode.by_value attach_function :freenect_set_video_mode, [:freenect_device, FrameMode.by_value], :int attach_function :freenect_get_depth_mode_count, [], :int attach_function :freenect_get_depth_mode, [:int], FrameMode.by_value attach_function :freenect_get_current_depth_mode, [:freenect_device], FrameMode.by_value attach_function :freenect_find_depth_mode, [RESOLUTIONS, DEPTH_FORMATS], FrameMode.by_value attach_function :freenect_set_depth_mode, [:freenect_device, FrameMode.by_value], :int attach_function :freenect_sync_get_video, [:pointer, :pointer, :int, VIDEO_FORMATS], :int attach_function :freenect_sync_get_depth, [:pointer, :pointer, :int, DEPTH_FORMATS], :int attach_function :freenect_sync_stop, [], :void end