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require 'freenect'
module Freenect
module Sync
class FormatError < StandardError
end
# Synchronous video function (starts the runloop if it isn't running)
#
# @param idx
# Device index. Default: 0
#
# @param fmt
# Video Format. See FFI::Freenect::VIDEO_FORMATS. Default is :rgb
#
# @return [Numeric, String]
# Returns an array containing a numeric timestamp and the video buffer
# snapshot with a size based on the requested video format.
#
# @raise FormatError
# An exception is raised if an invalid format is specified.
#
# @raise RuntimeError
# An exception is raised if an unknown error occurs in the
# freenect_sync_get_video function
#
def self.get_video(idx=nil, fmt=nil)
idx ||= 0
fmt ||= :rgb
if (buf_size = Freenect.lookup_video_size(fmt)).nil?
raise(FormatError, "Invalid video format: #{fmt.inspect}")
end
video_p = FFI::MemoryPointer.new(buf_size)
timestamp_p = FFI::MemoryPointer.new(:uint32)
ret = ::FFI::Freenect.freenect_sync_get_video(video_p, timestamp_p, idx, Freenect.lookup_video_format(fmt))
if ret != 0
raise("Unknown error in freenect_sync_get_video()") # TODO is errno set or something here?
else
return [timestamp_p.read_int, video_p.read_string_length(buf_size)]
end
end
# Synchronous depth function (starts the runloop if it isn't running)
#
# @param idx
# Device index. Default: 0
#
# @param fmt
# Video Format. See FFI::Freenect::DEPTH_FORMATS. Default is :rgb
#
# @return [Numeric, String]
# Returns an array containing a numeric timestamp and the depth buffer
# snapshot with a size based on the requested video format.
#
# @raise FormatError
# An exception is raised if an invalid format is specified.
#
# @raise RuntimeError
# An exception is raised if an unknown error occurs in the
# freenect_sync_get_video function
#
def self.get_depth(idx=0, fmt=:depth_11bit)
idx ||= 0
fmt ||= :depth_11bit
if (buf_size = Freenect.lookup_depth_size(fmt)).nil?
raise(FormatError, "Invalid depth format: #{fmt.inspect}")
end
depth_p = FFI::MemoryPointer.new(buf_size)
timestamp_p = FFI::MemoryPointer.new(:uint32)
ret = ::FFI::Freenect.freenect_sync_get_depth(depth_p, timestamp_p, idx, Freenect.lookup_depth_format(fmt))
if ret != 0
raise("Unknown error in freenect_sync_get_depth()") # TODO is errno set or something here?
else
return [timestamp_p.read_int, video_p.read_string_length(buf_size)]
end
end
# Stops the sync runloop
def self.stop
FFI::Freenect.freenect_sync_stop()
end
end
end
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