#include "libfreenect.h"
#include "platform.h"
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <math.h>
#include <unistd.h>
#include <assert.h>

Include dependency graph for fakenect.c:

Macros
#define	GRAVITY 9.80665

Functions
int	freenect_close_device (freenect_device *dev)

freenect_frame_mode	freenect_find_depth_mode (freenect_resolution res, freenect_depth_format fmt)

freenect_frame_mode	freenect_find_video_mode (freenect_resolution res, freenect_video_format fmt)

freenect_frame_mode	freenect_get_current_depth_mode (freenect_device *dev)

freenect_frame_mode	freenect_get_current_video_mode (freenect_device *dev)

freenect_frame_mode	freenect_get_depth_mode (int mode_num)

int	freenect_get_depth_mode_count ()

void	freenect_get_mks_accel (freenect_raw_tilt_state state, double x, double y, double z)

double	freenect_get_tilt_degs (freenect_raw_tilt_state *state)

freenect_raw_tilt_state *	freenect_get_tilt_state (freenect_device *dev)

freenect_tilt_status_code	freenect_get_tilt_status (freenect_raw_tilt_state *state)

void *	freenect_get_user (freenect_device *dev)

freenect_frame_mode	freenect_get_video_mode (int mode_num)

int	freenect_get_video_mode_count ()

int	freenect_init (freenect_context *ctx, freenect_usb_context usb_ctx)

int	freenect_num_devices (freenect_context *ctx)

int	freenect_open_device (freenect_context ctx, freenect_device *dev, int index)

int	freenect_open_device_by_camera_serial (freenect_context ctx, freenect_device dev, const char camera_serial)

int	freenect_process_events (freenect_context *ctx)

int	freenect_process_events_timeout (freenect_context ctx, struct timeval timeout)

void	freenect_select_subdevices (freenect_context *ctx, freenect_device_flags subdevs)

int	freenect_set_depth_buffer (freenect_device dev, void buf)

void	freenect_set_depth_callback (freenect_device *dev, freenect_depth_cb cb)

int	freenect_set_depth_format (freenect_device *dev, freenect_depth_format fmt)

int	freenect_set_depth_mode (freenect_device *dev, const freenect_frame_mode mode)

int	freenect_set_led (freenect_device *dev, freenect_led_options option)

void	freenect_set_log_callback (freenect_context *ctx, freenect_log_cb cb)

void	freenect_set_log_level (freenect_context *ctx, freenect_loglevel level)

int	freenect_set_tilt_degs (freenect_device *dev, double angle)

void	freenect_set_user (freenect_device dev, void user)

int	freenect_set_video_buffer (freenect_device dev, void buf)

void	freenect_set_video_callback (freenect_device *dev, freenect_video_cb cb)

int	freenect_set_video_format (freenect_device *dev, freenect_video_format fmt)

int	freenect_set_video_mode (freenect_device *dev, const freenect_frame_mode mode)

int	freenect_shutdown (freenect_context *ctx)

int	freenect_start_depth (freenect_device *dev)

int	freenect_start_video (freenect_device *dev)

int	freenect_stop_depth (freenect_device *dev)

int	freenect_stop_video (freenect_device *dev)

int	freenect_supported_subdevices (void)

int	freenect_update_tilt_state (freenect_device *dev)

static int	get_data_size (FILE *fp)

static char *	one_line (FILE *fp)

static void	open_index ()

static int	parse_line (char type, double cur_time, unsigned int timestamp, unsigned int data_size, char **data)

static char *	skip_line (char *str)

Variables
static int	already_warned = 0

static freenect_depth_cb	cur_depth_cb = NULL

static freenect_video_cb	cur_rgb_cb = NULL

static void *	depth_buffer = NULL

static int	depth_running = 0

static freenect_context *	fake_ctx = (freenect_context *)5678

static freenect_device *	fake_dev = (freenect_device *)1234

static FILE *	index_fp = NULL

static char *	input_path = NULL

static double	playback_prev_time = 0.

static double	record_prev_time = 0.

static void *	rgb_buffer = NULL

static int	rgb_running = 0

static freenect_raw_tilt_state	state = { 0 }

static void *	user_ptr = NULL

Macro Definition Documentation

#define GRAVITY 9.80665

Definition at line 35 of file fakenect.c.

Function Documentation

int freenect_close_device ( freenect_device * dev )

Closes a device that is currently open

Parameters

dev	Device to close

Returns: 0 on success

Definition at line 406 of file fakenect.c.

freenect_frame_mode freenect_find_depth_mode	(	freenect_resolution	res,
		freenect_depth_format	fmt
	)

Convenience function to return a mode descriptor matching the specified resolution and depth camera pixel format, if one exists.

Parameters

res	Resolution desired
fmt	Pixel format desired

Returns: A freenect_frame_mode that matches the arguments specified, if such a valid mode exists; otherwise, an invalid freenect_frame_mode.

Definition at line 284 of file fakenect.c.

freenect_frame_mode freenect_find_video_mode	(	freenect_resolution	res,
		freenect_video_format	fmt
	)

Convenience function to return a mode descriptor matching the specified resolution and video camera pixel format, if one exists.

Parameters

res	Resolution desired
fmt	Pixel format desired

Returns: A freenect_frame_mode that matches the arguments specified, if such a valid mode exists; otherwise, an invalid freenect_frame_mode.

Definition at line 260 of file fakenect.c.

freenect_frame_mode freenect_get_current_depth_mode ( freenect_device * dev )

Get the frame descriptor of the current depth mode for the specified freenect device.

Parameters

dev	Which device to return the currently-set depth mode for

Returns: A freenect_frame_mode describing the current depth mode of the specified device

Definition at line 303 of file fakenect.c.

freenect_frame_mode freenect_get_current_video_mode ( freenect_device * dev )

Get the frame descriptor of the current video mode for the specified freenect device.

Parameters

dev	Which device to return the currently-set video mode for

Returns: A freenect_frame_mode describing the current video mode of the specified device

Definition at line 279 of file fakenect.c.

freenect_frame_mode freenect_get_depth_mode ( int mode_num )

Get the frame descriptor of the nth supported depth mode for the depth camera.

Parameters

mode_num Which of the supported modes to return information about

Returns: A freenect_frame_mode describing the nth depth mode

Definition at line 298 of file fakenect.c.

int freenect_get_depth_mode_count ( )

Get the number of depth camera modes supported by the driver. This includes both RGB and IR modes.

Returns: Number of depth modes supported by the driver

Definition at line 293 of file fakenect.c.

void freenect_get_mks_accel	(	freenect_raw_tilt_state *	state,
		double *	x,
		double *	y,
		double *	z
	)

Get the axis-based gravity adjusted accelerometer state, as laid out via the accelerometer data sheet, which is available at

http://www.kionix.com/Product%20Sheets/KXSD9%20Product%20Brief.pdf

Parameters

state	State to extract accelerometer data from
x	Stores X-axis accelerometer state
y	Stores Y-axis accelerometer state
z	Stores Z-axis accelerometer state

Definition at line 227 of file fakenect.c.

double freenect_get_tilt_degs ( freenect_raw_tilt_state * state )

Return the tilt state, in degrees with respect to the horizon

Parameters

state The tilt state struct from a device

Returns: Current degree of tilt of the device

Definition at line 211 of file fakenect.c.

freenect_raw_tilt_state* freenect_get_tilt_state ( freenect_device * dev )

Retrieve the tilt state from a device

Parameters

dev	Device to retrieve tilt state from

Returns: The tilt state struct of the device

Definition at line 217 of file fakenect.c.

freenect_tilt_status_code freenect_get_tilt_status ( freenect_raw_tilt_state * state )

Return the movement state of the tilt motor (moving, stopped, etc...)

Parameters

state Raw state struct to get the tilt status code from

Returns: Status code of the tilt device. See freenect_tilt_status_code enum for more info.

Definition at line 222 of file fakenect.c.

void* freenect_get_user ( freenect_device * dev )

Retrieve the pointer to user data from the device struct

Parameters

dev	Device from which to get user data

Returns: Pointer to user data

Definition at line 360 of file fakenect.c.

freenect_frame_mode freenect_get_video_mode ( int mode_num )

Get the frame descriptor of the nth supported video mode for the video camera.

Parameters

mode_num Which of the supported modes to return information about

Returns: A freenect_frame_mode describing the nth video mode

Definition at line 274 of file fakenect.c.

int freenect_get_video_mode_count ( )

Get the number of video camera modes supported by the driver. This includes both RGB and IR modes.

Returns: Number of video modes supported by the driver

Definition at line 269 of file fakenect.c.

int freenect_init	(	freenect_context **	ctx,
		freenect_usb_context *	usb_ctx
	)

Initialize a freenect context and do any setup required for platform specific USB libraries.

Parameters

ctx	Address of pointer to freenect context struct to allocate and initialize
usb_ctx	USB context to initialize. Can be NULL if not using multiple contexts.

Returns: 0 on success, < 0 on error

Definition at line 327 of file fakenect.c.

int freenect_num_devices ( freenect_context * ctx )

Return the number of kinect devices currently connected to the system

Parameters

ctx	Context to access device count through

Returns: Number of devices connected, < 0 on error

Definition at line 308 of file fakenect.c.

int freenect_open_device	(	freenect_context *	ctx,
		freenect_device **	dev,
		int	index
	)

Opens a kinect device via a context. Index specifies the index of the device on the current state of the bus. Bus resets may cause indexes to shift.

Parameters

ctx	Context to open device through
dev	Device structure to assign opened device to
index	Index of the device on the bus

Returns: 0 on success, < 0 on error

Definition at line 314 of file fakenect.c.

int freenect_open_device_by_camera_serial	(	freenect_context *	ctx,
		freenect_device **	dev,
		const char *	camera_serial
	)

Opens a kinect device (via a context) associated with a particular camera subdevice serial number. This function will fail if no device with a matching serial number is found.

Parameters

ctx	Context to open device through
dev	Device structure to assign opened device to
camera_serial	Null-terminated ASCII string containing the serial number of the camera subdevice in the device to open

Returns: 0 on success, < 0 on error

Definition at line 321 of file fakenect.c.

int freenect_process_events ( freenect_context * ctx )

Calls the platform specific usb event processor

Parameters

ctx	context to process events for

Returns: 0 on success, other values on error, platform/library dependant

Definition at line 140 of file fakenect.c.

int freenect_process_events_timeout	(	freenect_context *	ctx,
		struct timeval *	timeout
	)

Calls the platform specific usb event processor until either an event occurs or the timeout parameter time has passed. If a zero timeval is passed, this function will handle any already-pending events, then return immediately.

Parameters

ctx	Context to process events for
timeout	Pointer to a timeval containing the maximum amount of time to block waiting for events, or zero for nonblocking mode

Returns: 0 on success, other values on error, platform/library dependant

Definition at line 206 of file fakenect.c.

void freenect_select_subdevices	(	freenect_context *	ctx,
		freenect_device_flags	subdevs
	)

Set which subdevices any subsequent calls to freenect_open_device() should open. This will not affect devices which have already been opened. The default behavior, should you choose not to call this function at all, is to open all supported subdevices - motor, cameras, and audio, if supported on the platform.

Parameters

ctx	Context to set future subdevice selection for
subdevs	Flags representing the subdevices to select

Definition at line 338 of file fakenect.c.

int freenect_set_depth_buffer	(	freenect_device *	dev,
		void *	buf
	)

Set the buffer to store depth information to. Size of buffer is dependant on depth format. See FREENECT_DEPTH_*_SIZE defines for more information.

Parameters

dev	Device to set depth buffer for.
buf	Buffer to store depth information to.

Returns: 0 on success, < 0 on error

Definition at line 343 of file fakenect.c.

void freenect_set_depth_callback	(	freenect_device *	dev,
		freenect_depth_cb	cb
	)

Set callback for depth information received event

Parameters

dev	Device to set callback for
cb	Function pointer for processing depth information

Definition at line 236 of file fakenect.c.

int freenect_set_depth_format	(	freenect_device *	dev,
		freenect_depth_format	fmt
	)

Definition at line 394 of file fakenect.c.

int freenect_set_depth_mode	(	freenect_device *	dev,
		const freenect_frame_mode	mode
	)

Sets the current depth mode for the specified device. The mode cannot be changed while streaming is active.

Parameters

dev	Device for which to set the depth mode
mode	Frame mode to set

Returns: 0 on success, < 0 if error

Definition at line 253 of file fakenect.c.

int freenect_set_led	(	freenect_device *	dev,
		freenect_led_options	option
	)

Set the state of the LED. Uses blocking control message call to update device.

Parameters

dev	Device to set the LED state
option	LED state to set on device. See freenect_led_options enum.

Returns: 0 on success, < 0 on error

Definition at line 414 of file fakenect.c.

void freenect_set_log_callback	(	freenect_context *	ctx,
		freenect_log_cb	cb
	)

Callback for log messages (i.e. for rerouting to a file instead of stdout)

Parameters

ctx	context to set log callback for
cb	callback function pointer

Definition at line 400 of file fakenect.c.

void freenect_set_log_level	(	freenect_context *	ctx,
		freenect_loglevel	level
	)

Set the log level for the specified freenect context

Parameters

ctx	context to set log level for
level	log level to use (see freenect_loglevel enum)

Definition at line 401 of file fakenect.c.

int freenect_set_tilt_degs	(	freenect_device *	dev,
		double	angle
	)

Set the tilt state of the device, in degrees with respect to the horizon. Uses blocking control message call to update device. Function return does not reflect state of device, device may still be moving to new position after the function returns. Use freenect_get_tilt_status() to find current movement state.

Parameters

dev	Device to set tilt state
angle	Angle the device should tilt to

Returns: 0 on success, < 0 on error.

Definition at line 410 of file fakenect.c.

void freenect_set_user	(	freenect_device *	dev,
		void *	user
	)

Set the device user data, for passing generic information into callbacks

Parameters

dev	Device to attach user data to
user	User data to attach

Definition at line 355 of file fakenect.c.

int freenect_set_video_buffer	(	freenect_device *	dev,
		void *	buf
	)

Set the buffer to store depth information to. Size of buffer is dependant on video format. See FREENECT_VIDEO_*_SIZE defines for more information.

Parameters

dev	Device to set video buffer for.
buf	Buffer to store video information to.

Returns: 0 on success, < 0 on error

Definition at line 349 of file fakenect.c.

void freenect_set_video_callback	(	freenect_device *	dev,
		freenect_video_cb	cb
	)

Set callback for video information received event

Parameters

dev	Device to set callback for
cb	Function pointer for processing video information

Definition at line 241 of file fakenect.c.

int freenect_set_video_format	(	freenect_device *	dev,
		freenect_video_format	fmt
	)

Definition at line 389 of file fakenect.c.

int freenect_set_video_mode	(	freenect_device *	dev,
		freenect_frame_mode	mode
	)

Sets the current video mode for the specified device. If the freenect_frame_mode specified is not one provided by the driver e.g. from freenect_get_video_mode() or freenect_find_video_mode() then behavior is undefined. The current video mode cannot be changed while streaming is active.

Parameters

dev	Device for which to set the video mode
mode	Frame mode to set

Returns: 0 on success, < 0 if error

Definition at line 246 of file fakenect.c.

int freenect_shutdown ( freenect_context * ctx )

Closes the device if it is open, and frees the context

Parameters

ctx	freenect context to close/free

Returns: 0 on success

Definition at line 402 of file fakenect.c.

int freenect_start_depth ( freenect_device * dev )

Start the depth information stream for a device.

Parameters

dev	Device to start depth information stream for.

Returns: 0 on success, < 0 on error

Definition at line 365 of file fakenect.c.

int freenect_start_video ( freenect_device * dev )

Start the video information stream for a device.

Parameters

dev	Device to start video information stream for.

Returns: 0 on success, < 0 on error

Definition at line 371 of file fakenect.c.

int freenect_stop_depth ( freenect_device * dev )

Stop the depth information stream for a device

Parameters

dev	Device to stop depth information stream on.

Returns: 0 on success, < 0 on error

Definition at line 377 of file fakenect.c.

int freenect_stop_video ( freenect_device * dev )

Stop the video information stream for a device

Parameters

dev	Device to stop video information stream on.

Returns: 0 on success, < 0 on error

Definition at line 383 of file fakenect.c.

int freenect_supported_subdevices ( void )

Answer which subdevices this library supports. This is most useful for wrappers trying to determine whether the underlying library was built with audio support or not, so the wrapper can avoid calling functions that do not exist.

Returns: Flags representing the subdevices that the library supports opening (see freenect_device_flags)

Definition at line 333 of file fakenect.c.

int freenect_update_tilt_state ( freenect_device * dev )

Updates the accelerometer state using a blocking control message call.

Parameters

dev	Device to get accelerometer data from

Returns: 0 on success, < 0 on error. Accelerometer data stored to device struct.

Definition at line 418 of file fakenect.c.

static int get_data_size ( FILE * fp )

static

Definition at line 72 of file fakenect.c.

static char* one_line ( FILE * fp )

static

Definition at line 55 of file fakenect.c.

static void open_index ( )

static

Definition at line 112 of file fakenect.c.

static int parse_line	(	char *	type,
		double *	cur_time,
		unsigned int *	timestamp,
		unsigned int *	data_size,
		char **	data
	)

static

Definition at line 81 of file fakenect.c.

static char* skip_line ( char * str )

static

Definition at line 130 of file fakenect.c.

Variable Documentation

int already_warned = 0

static

Definition at line 46 of file fakenect.c.

freenect_depth_cb cur_depth_cb = NULL

static

Definition at line 41 of file fakenect.c.

freenect_video_cb cur_rgb_cb = NULL

static

Definition at line 42 of file fakenect.c.

void* depth_buffer = NULL

static

Definition at line 49 of file fakenect.c.

int depth_running = 0

static

Definition at line 51 of file fakenect.c.

freenect_context* fake_ctx = (freenect_context *)5678

static

Definition at line 40 of file fakenect.c.

freenect_device* fake_dev = (freenect_device *)1234

static

Definition at line 39 of file fakenect.c.

FILE* index_fp = NULL

static

Definition at line 44 of file fakenect.c.

char* input_path = NULL

static

Definition at line 43 of file fakenect.c.

double playback_prev_time = 0.

static

Definition at line 47 of file fakenect.c.

double record_prev_time = 0.

static

Definition at line 48 of file fakenect.c.

void* rgb_buffer = NULL

static

Definition at line 50 of file fakenect.c.

int rgb_running = 0

static

Definition at line 52 of file fakenect.c.

freenect_raw_tilt_state state = { 0 }

static

Definition at line 45 of file fakenect.c.

void* user_ptr = NULL

static

Definition at line 53 of file fakenect.c.

Macros

Functions

Variables

Macro Definition Documentation

Function Documentation

Variable Documentation