freenect: libfreenect.h Source File

00001 /*
00002  * This file is part of the OpenKinect Project. http://www.openkinect.org
00003  *
00004  * Copyright (c) 2010 individual OpenKinect contributors. See the CONTRIB file
00005  * for details.
00006  *
00007  * This code is licensed to you under the terms of the Apache License, version
00008  * 2.0, or, at your option, the terms of the GNU General Public License,
00009  * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
00010  * or the following URLs:
00011  * http://www.apache.org/licenses/LICENSE-2.0
00012  * http://www.gnu.org/licenses/gpl-2.0.txt
00013  *
00014  * If you redistribute this file in source form, modified or unmodified, you
00015  * may:
00016  *   1) Leave this header intact and distribute it under the same terms,
00017  *      accompanying it with the APACHE20 and GPL20 files, or
00018  *   2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
00019  *   3) Delete the GPL v2 clause and accompany it with the APACHE20 file
00020  * In all cases you must keep the copyright notice intact and include a copy
00021  * of the CONTRIB file.
00022  *
00023  * Binary distributions must follow the binary distribution requirements of
00024  * either License.
00025  */
00026 
00027 #ifndef LIBFREENECT_H
00028 #define LIBFREENECT_H
00029 
00030 #include <stdint.h>
00031 
00032 #ifdef __cplusplus
00033 extern "C" {
00034 #endif
00035 
00036 typedef uint16_t freenect_depth;
00037 typedef uint8_t freenect_packed_depth;
00038 typedef uint8_t freenect_pixel;
00039 typedef uint16_t freenect_pixel_ir;
00040 
00041 #define FREENECT_FRAME_W 640
00042 #define FREENECT_FRAME_H 480
00043 #define FREENECT_FRAME_PIX (FREENECT_FRAME_H*FREENECT_FRAME_W)
00044 #define FREENECT_RGB_SIZE (FREENECT_FRAME_PIX*3)
00045 #define FREENECT_BAYER_SIZE (FREENECT_FRAME_PIX)
00046 #define FREENECT_DEPTH_SIZE (FREENECT_FRAME_PIX*sizeof(freenect_depth))
00047 #define FREENECT_COUNTS_PER_G 819
00048 
00049 typedef enum {
00050         FREENECT_FORMAT_RGB = 0,
00051         FREENECT_FORMAT_BAYER = 1,
00052         FREENECT_FORMAT_IR = 2,
00053 } freenect_rgb_format;
00054 
00055 typedef enum {
00056         LED_OFF    = 0,
00057         LED_GREEN  = 1,
00058         LED_RED    = 2,
00059         LED_YELLOW = 3,
00060         LED_BLINK_YELLOW = 4,
00061         LED_BLINK_GREEN = 5,
00062         LED_BLINK_RED_YELLOW = 6
00063 } freenect_led_options;
00064 
00065 typedef enum {
00066         FREENECT_FORMAT_11_BIT = 0,
00067         FREENECT_FORMAT_10_BIT = 1,
00068         FREENECT_FORMAT_PACKED_11_BIT = 2,
00069         FREENECT_FORMAT_PACKED_10_BIT = 3,
00070 } freenect_depth_format;
00071 
00072 typedef enum {
00073         TILT_STATUS_STOPPED = 0x00,
00074         TILT_STATUS_LIMIT = 0x01,
00075         TILT_STATUS_MOVING = 0x04
00076 } freenect_tilt_status_code;
00077 
00078 typedef struct {
00079         int16_t accelerometer_x;
00080         int16_t accelerometer_y;
00081         int16_t accelerometer_z;
00082         int8_t tilt_angle;
00083         freenect_tilt_status_code tilt_status;
00084 } freenect_raw_device_state;
00085 
00086 struct _freenect_context;
00087 typedef struct _freenect_context freenect_context;
00088 
00089 struct _freenect_device;
00090 typedef struct _freenect_device freenect_device;
00091 
00092 // usb backend specific section
00093 #include <libusb-1.0/libusb.h>
00094 typedef libusb_context freenect_usb_context;
00095 //
00096 
00097 typedef enum {
00098         FREENECT_LOG_FATAL = 0,
00099         FREENECT_LOG_ERROR,
00100         FREENECT_LOG_WARNING,
00101         FREENECT_LOG_NOTICE,
00102         FREENECT_LOG_INFO,
00103         FREENECT_LOG_DEBUG,
00104         FREENECT_LOG_SPEW,
00105         FREENECT_LOG_FLOOD,
00106 } freenect_loglevel;
00107 
00108 int freenect_init(freenect_context **ctx, freenect_usb_context *usb_ctx);
00109 int freenect_shutdown(freenect_context *ctx);
00110 
00111 typedef void (*freenect_log_cb)(freenect_context *dev, freenect_loglevel level, const char *msg);
00112 
00113 void freenect_set_log_level(freenect_context *ctx, freenect_loglevel level);
00114 void freenect_set_log_callback(freenect_context *ctx, freenect_log_cb cb);
00115 
00116 int freenect_process_events(freenect_context *ctx);
00117 
00118 int freenect_num_devices(freenect_context *ctx);
00119 int freenect_open_device(freenect_context *ctx, freenect_device **dev, int index);
00120 int freenect_close_device(freenect_device *dev);
00121 
00122 void freenect_set_user(freenect_device *dev, void *user);
00123 void *freenect_get_user(freenect_device *dev);
00124 
00125 typedef void (*freenect_depth_cb)(freenect_device *dev, void *depth, uint32_t timestamp);
00126 typedef void (*freenect_rgb_cb)(freenect_device *dev, freenect_pixel *rgb, uint32_t timestamp);
00127 typedef void (*freenect_ir_cb)(freenect_device *dev, freenect_pixel_ir *rgb, uint32_t timestamp);
00128 
00129 void freenect_set_depth_callback(freenect_device *dev, freenect_depth_cb cb);
00130 void freenect_set_rgb_callback(freenect_device *dev, freenect_rgb_cb cb);
00131 void freenect_set_ir_callback(freenect_device *dev, freenect_ir_cb cb);
00132 int freenect_set_rgb_format(freenect_device *dev, freenect_rgb_format fmt);
00133 int freenect_set_depth_format(freenect_device *dev, freenect_depth_format fmt);
00134 
00135 int freenect_start_depth (freenect_device *dev);
00136 int freenect_start_rgb (freenect_device *dev);
00137 int freenect_start_ir (freenect_device *dev);
00138 int freenect_stop_depth (freenect_device *dev);
00139 int freenect_stop_rgb (freenect_device *dev);
00140 int freenect_stop_ir (freenect_device *dev);
00141 
00142 int freenect_set_tilt_degs(freenect_device *dev, double angle);
00143 int freenect_set_led(freenect_device *dev, freenect_led_options option);
00144 
00145 int freenect_update_device_state(freenect_device *dev);
00146 freenect_raw_device_state* freenect_get_device_state(freenect_device *dev);
00147 void freenect_get_mks_accel(freenect_raw_device_state *state, double* x, double* y, double* z);
00148 double freenect_get_tilt_degs(freenect_raw_device_state *state);
00149 
00150 #ifdef __cplusplus
00151 }
00152 #endif
00153 
00154 #endif //
00155