libfreenect_sync.c File Reference

#include <stdio.h>
#include <pthread.h>
#include <string.h>
#include <stdlib.h>
#include <assert.h>
#include "libfreenect_registration.h"
#include "libfreenect_sync.h"

Include dependency graph for libfreenect_sync.c:

Go to the source code of this file.

Classes
struct	buffer_ring
struct	sync_kinect

Macros
#define	MAX_KINECTS   64

Typedefs
typedef struct buffer_ring	buffer_ring_t
typedef int(*	set_buffer_t) (freenect_device *dev, void *buf)
typedef struct sync_kinect	sync_kinect_t

Functions
static int	alloc_buffer_ring_depth (freenect_resolution res, freenect_depth_format fmt, buffer_ring_t *buf)
static int	alloc_buffer_ring_video (freenect_resolution res, freenect_video_format fmt, buffer_ring_t *buf)
static sync_kinect_t *	alloc_kinect (int index)
static int	change_depth_format (sync_kinect_t *kinect, freenect_resolution res, freenect_depth_format fmt)
static int	change_video_format (sync_kinect_t *kinect, freenect_resolution res, freenect_video_format fmt)
static void	depth_producer_cb (freenect_device *dev, void *data, uint32_t timestamp)
static void	free_buffer_ring (buffer_ring_t *buf)
int	freenect_sync_camera_to_world (int cx, int cy, int wz, double *wx, double *wy, int index)
int	freenect_sync_get_depth (void **depth, uint32_t *timestamp, int index, freenect_depth_format fmt)
int	freenect_sync_get_depth_with_res (void **depth, uint32_t *timestamp, int index, freenect_resolution res, freenect_depth_format fmt)
int	freenect_sync_get_tilt_state (freenect_raw_tilt_state **state, int index)
int	freenect_sync_get_video (void **video, uint32_t *timestamp, int index, freenect_video_format fmt)
int	freenect_sync_get_video_with_res (void **video, uint32_t *timestamp, int index, freenect_resolution res, freenect_video_format fmt)
int	freenect_sync_set_led (freenect_led_options led, int index)
int	freenect_sync_set_tilt_degs (int angle, int index)
void	freenect_sync_stop (void)
static void *	init (void *unused)
static void	init_thread (void)
static void	pending_runloop_tasks_dec (void)
static void	pending_runloop_tasks_inc (void)
static void	pending_runloop_tasks_wait_zero (void)
static void	producer_cb_inner (freenect_device *dev, void *data, uint32_t timestamp, buffer_ring_t *buf, set_buffer_t set_buffer)
static int	runloop_enter (int index)
static void	runloop_exit ()
static int	setup_kinect (int index, int res, int fmt, int is_depth)
static int	sync_get (void **data, uint32_t *timestamp, buffer_ring_t *buf)
static void	video_producer_cb (freenect_device *dev, void *data, uint32_t timestamp)

Variables
static freenect_context *	ctx
static sync_kinect_t *	kinects [MAX_KINECTS] = {}
static int	pending_runloop_tasks = 0
static pthread_cond_t	pending_runloop_tasks_cond = PTHREAD_COND_INITIALIZER
static pthread_mutex_t	pending_runloop_tasks_lock = PTHREAD_MUTEX_INITIALIZER
static pthread_mutex_t	runloop_lock = PTHREAD_MUTEX_INITIALIZER
static pthread_t	thread
static int	thread_running = 0

Macro Definition Documentation

#define MAX_KINECTS   64

Definition at line 52 of file libfreenect_sync.c.

Typedef Documentation

typedef struct buffer_ring buffer_ring_t

typedef int(* set_buffer_t) (freenect_device *dev, void *buf)

Definition at line 50 of file libfreenect_sync.c.

typedef struct sync_kinect sync_kinect_t

Function Documentation

static int alloc_buffer_ring_depth ( freenect_resolution  res, freenect_depth_format  fmt, buffer_ring_t *  buf  )

static

Definition at line 96 of file libfreenect_sync.c.

static int alloc_buffer_ring_video ( freenect_resolution  res, freenect_video_format  fmt, buffer_ring_t *  buf  )

static

Definition at line 72 of file libfreenect_sync.c.

static sync_kinect_t* alloc_kinect ( int  index )

static

Definition at line 249 of file libfreenect_sync.c.

static int change_depth_format ( sync_kinect_t *  kinect, freenect_resolution  res, freenect_depth_format  fmt  )

static

Definition at line 237 of file libfreenect_sync.c.

static int change_video_format ( sync_kinect_t *  kinect, freenect_resolution  res, freenect_video_format  fmt  )

static

Definition at line 225 of file libfreenect_sync.c.

static void depth_producer_cb ( freenect_device *  dev, void *  data, uint32_t  timestamp  )

static

Definition at line 153 of file libfreenect_sync.c.

static void free_buffer_ring ( buffer_ring_t *  buf )

static

Definition at line 121 of file libfreenect_sync.c.

int freenect_sync_camera_to_world	(	int	cx,
		int	cy,
		int	wz,
		double *	wx,
		double *	wy,
		int	index
	)

Definition at line 426 of file libfreenect_sync.c.

int freenect_sync_get_depth	(	void **	depth,
		uint32_t *	timestamp,
		int	index,
		freenect_depth_format	fmt
	)

Definition at line 398 of file libfreenect_sync.c.

int freenect_sync_get_depth_with_res	(	void **	depth,
		uint32_t *	timestamp,
		int	index,
		freenect_resolution	res,
		freenect_depth_format	fmt
	)

Definition at line 383 of file libfreenect_sync.c.

int freenect_sync_get_tilt_state	(	freenect_raw_tilt_state **	state,
		int	index
	)

Definition at line 403 of file libfreenect_sync.c.

int freenect_sync_get_video	(	void **	video,
		uint32_t *	timestamp,
		int	index,
		freenect_video_format	fmt
	)

Definition at line 378 of file libfreenect_sync.c.

int freenect_sync_get_video_with_res	(	void **	video,
		uint32_t *	timestamp,
		int	index,
		freenect_resolution	res,
		freenect_video_format	fmt
	)

Definition at line 364 of file libfreenect_sync.c.

int freenect_sync_set_led	(	freenect_led_options	led,
		int	index
	)

Definition at line 419 of file libfreenect_sync.c.

int freenect_sync_set_tilt_degs	(	int	angle,
		int	index
	)

Definition at line 412 of file libfreenect_sync.c.

void freenect_sync_stop

(

void

)

Definition at line 433 of file libfreenect_sync.c.

static void* init ( void *  unused )

static

Definition at line 185 of file libfreenect_sync.c.

static void init_thread ( void  )

static

Definition at line 214 of file libfreenect_sync.c.

static void pending_runloop_tasks_dec ( void  )

static

Definition at line 167 of file libfreenect_sync.c.

static void pending_runloop_tasks_inc ( void  )

static

Definition at line 159 of file libfreenect_sync.c.

static void pending_runloop_tasks_wait_zero ( void  )

static

Definition at line 177 of file libfreenect_sync.c.

static void producer_cb_inner ( freenect_device *  dev, void *  data, uint32_t  timestamp, buffer_ring_t *  buf, set_buffer_t  set_buffer  )

static

Definition at line 134 of file libfreenect_sync.c.

static int runloop_enter ( int  index )

static

Definition at line 343 of file libfreenect_sync.c.

static void runloop_exit ( )

static

Definition at line 358 of file libfreenect_sync.c.

static int setup_kinect ( int  index, int  res, int  fmt, int  is_depth  )

static

Definition at line 274 of file libfreenect_sync.c.

static int sync_get ( void **  data, uint32_t *  timestamp, buffer_ring_t *  buf  )

static

Definition at line 318 of file libfreenect_sync.c.

static void video_producer_cb ( freenect_device *  dev, void *  data, uint32_t  timestamp  )

static

Definition at line 148 of file libfreenect_sync.c.

Variable Documentation

freenect_context* ctx

static

Definition at line 54 of file libfreenect_sync.c.

sync_kinect_t* kinects[MAX_KINECTS] = {}

static

Definition at line 53 of file libfreenect_sync.c.

int pending_runloop_tasks = 0

static

Definition at line 58 of file libfreenect_sync.c.

pthread_cond_t pending_runloop_tasks_cond = PTHREAD_COND_INITIALIZER

static

Definition at line 60 of file libfreenect_sync.c.

pthread_mutex_t pending_runloop_tasks_lock = PTHREAD_MUTEX_INITIALIZER

static

Definition at line 59 of file libfreenect_sync.c.

pthread_mutex_t runloop_lock = PTHREAD_MUTEX_INITIALIZER

static

Definition at line 57 of file libfreenect_sync.c.

pthread_t thread

static

Definition at line 56 of file libfreenect_sync.c.

int thread_running = 0

static

Definition at line 55 of file libfreenect_sync.c.