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% Copyright (c) 2010 Ryan Farrell (farrell@cs.umd.edu)
% Brandyn White (bwhite@dappervision.com)
%
% 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.
classdef Freenect < handle
% FREENECT Provides access to Microsoft Kinect using libfreenect
% Available methods: getFrame()
properties (Constant, Hidden)
% Note, if libfreenect is installed elsewhere, you'll need to
% change the INSTALLED_PATH
INSTALLED_PATH = '/usr/local/';
% The LIBRARY_NAME will need to be modified for other platforms and
% you'll also need to ensure that libfreenect.h is in the same
% include directory
LIBRARY_NAME = fullfile(Freenect.INSTALLED_PATH,'lib/libfreenect_sync.so');
SYNC_HEADER = fullfile(Freenect.INSTALLED_PATH,'include/libfreenect_sync.h');
% If you'd like to see the warnigns that MATLAB returns when
% loading the library, then enable this flag.
SHOW_LIBRARY_WARNINGS = false;
end
properties (Dependent)
cameraId;
end
properties (Access=protected)
internalCameraId;
clrBuffer;
hClrBuffer;
clrTStamp;
hClrTStamp;
depthBuffer;
hDepthBuffer;
depthTStamp;
hDepthTStamp;
lastClrPtr;
lastClrTStamp;
lastDepthPtr;
lastDepthTStamp;
end
methods
function OBJ = Freenect( CAM_ID )
persistent gCameraMap;
assert( nargin==1 );
Freenect.ensureInitialized();
OBJ.internalCameraId = int32(CAM_ID);
OBJ.clrBuffer = zeros(640*480*3,1,'uint8');
OBJ.depthBuffer = zeros(640*480,1,'uint16');
OBJ.hClrBuffer = libpointer('voidPtrPtr',OBJ.clrBuffer);
OBJ.hDepthBuffer = libpointer('voidPtrPtr',OBJ.depthBuffer);
OBJ.clrTStamp = zeros(1,1,'uint32');
OBJ.depthTStamp = zeros(1,1,'uint32');
OBJ.hClrTStamp = libpointer('uint32Ptr',OBJ.clrTStamp);
OBJ.hDepthTStamp = libpointer('uint32Ptr',OBJ.depthTStamp);
if (isfield(gCameraMap,sprintf('CAM%d',CAM_ID)))
throw(MException('Freenect:cameraTaken',...
sprintf('Camera ID %d Already in Use!',CAM_ID)));
else
% Try to get a frame, make sure it's working.
[RGB,DEPTH] = OBJ.getFrame();
if ( isempty(RGB) || isempty(DEPTH) )
throw( MException('Freenect:ConnectionError',...
sprintf('Couldn''t connect to camera %d',...
OBJ.internalCameraId)));
end
% Otherwise, we're good
gCameraMap.(sprintf('CAM%d',CAM_ID)) = true;
end
end
function [ID] = get.cameraId(OBJ)
ID = OBJ.internalCameraId;
end
function [RGB,DEPTH] = getFrame(OBJ)
% [RGB,DEPTH] = OBJ.GETFRAME() extracts the current 8-bit RGB
% and 11-bit DEPTH images.
ReturnClr = OBJ.getColorPtr();
ReturnDepth = OBJ.getDepthPtr();
if ( ReturnClr == 0 )
RGB = permute(reshape(OBJ.lastClrPtr.Value,[3 640 480]),[3 2 1]);
else
RGB = [];
end
if ( ReturnDepth == 0 )
DEPTH = reshape(OBJ.lastDepthPtr.Value,[640 480])';
else
DEPTH = [];
end
end
end
methods(Access=protected)
function [RETURN] = getColorPtr(OBJ)
VIDEO_MODE = 0;
RawPtr = calllib('freenectAlias','freenect_sync_get_video',...
OBJ.hClrBuffer,OBJ.hClrTStamp,...
OBJ.internalCameraId, VIDEO_MODE);
OBJ.lastClrPtr = get(OBJ.hClrBuffer);
OBJ.lastClrTStamp = get(OBJ.hClrTStamp);
RETURN = RawPtr;
end
function [RETURN] = getDepthPtr(OBJ)
DEPTH_MODE = 0;
RawPtr = calllib('freenectAlias','freenect_sync_get_depth',...
OBJ.hDepthBuffer,OBJ.hDepthTStamp,...
OBJ.internalCameraId, DEPTH_MODE);
OBJ.lastDepthPtr = get(OBJ.hDepthBuffer);
OBJ.lastDepthTStamp = get(OBJ.hDepthTStamp);
RETURN = RawPtr;
end
end
methods (Static,Access=protected)
function [] = ensureInitialized()
persistent gAlreadyInitialized;
if ( isempty(gAlreadyInitialized) )
try
unloadlibrary('freenectAlias');
catch me %#ok<NASGU>
end
% First ensure library, headers exists
OTHER_HEADERS = fullfile(Freenect.INSTALLED_PATH,'include');
MAIN_FREENECT_HEADER = fullfile(OTHER_HEADERS,'libfreenect.h');
if ( ~exist( Freenect.LIBRARY_NAME,'file' ) )
throwAsCaller(MException('Freenect:LibraryMissing',...
sprintf('Couldn''t find library: %s',...
Freenect.LIBRARY_NAME)));
elseif ( ~exist( Freenect.SYNC_HEADER,'file' ) )
throwAsCaller(MException('Freenect:HeaderMissing',...
sprintf('Couldn''t find header: %s',...
Freenect.SYNC_HEADER)));
elseif ( ~exist( MAIN_FREENECT_HEADER,'file' ) )
throwAsCaller(MException('Freenect:HeaderMissing',...
sprintf('Couldn''t find header: %s',...
MAIN_FREENECT_HEADER)));
end
[~,warnings] = loadlibrary( ...
Freenect.LIBRARY_NAME, ...
Freenect.SYNC_HEADER, ...
'alias', 'freenectAlias', ...
'includepath', OTHER_HEADERS );
if ( Freenect.SHOW_LIBRARY_WARNINGS )
fprintf(2,warnings);
end
gAlreadyInitialized = true;
end
end
function [] = shutdown()
% call the freenect shutdown() here - TODO
% currently nothing calls shutdown()...
unloadlibrary('freenectAlias');
end
end
end
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