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|
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
"#<Freenect::FrameMode #{format} #{resolution} res (#{width}x#{height}) @ #{framerate} Hz>"
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
"#<Freenect::RawTiltState #{status} @ #{angle} deg, accel: (#{accelerometer.join(',')})>"
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
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