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Transparently enabling setting kinect resolution with Sync C wrapper #300

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Transparently enabling setting kinect resolution with Sync C wrapper #300

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b226be2
Tweaked C_Sync wrapper to allow for resolution to be set
Jul 29, 2012
b138224
A slightly more aggressive form of allowing resolution to be set thro…
Aug 1, 2012
7448a87
Changed the names of the modified functions, and added wrapper functi…
Aug 1, 2012
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78 changes: 56 additions & 22 deletions wrappers/c_sync/libfreenect_sync.c
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@ typedef struct buffer_ring {
uint32_t timestamp;
int valid; // True if middle buffer is valid
int fmt;
int res;
} buffer_ring_t;

typedef struct sync_kinect {
Expand Down Expand Up @@ -67,7 +68,7 @@ static pthread_cond_t pending_runloop_tasks_cond = PTHREAD_COND_INITIALIZER;
- runloop_lock, buffer_ring_t.lock (NOTE: You may only have one)
*/

static int alloc_buffer_ring_video(freenect_video_format fmt, buffer_ring_t *buf)
static int alloc_buffer_ring_video(freenect_resolution res, freenect_video_format fmt, buffer_ring_t *buf)
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@ghost ghost Apr 7, 2015

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https://github.com/OpenKinect/libfreenect/pull/300/files#diff-409c0f09ce1b29f4e9af4ad208d367fc

{
int sz, i;
switch (fmt) {
Expand All @@ -76,7 +77,7 @@ static int alloc_buffer_ring_video(freenect_video_format fmt, buffer_ring_t *buf
case FREENECT_VIDEO_IR_8BIT:
case FREENECT_VIDEO_IR_10BIT:
case FREENECT_VIDEO_IR_10BIT_PACKED:
sz = freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, fmt).bytes;
sz = freenect_find_video_mode(res, fmt).bytes;
break;
default:
printf("Invalid video format %d\n", fmt);
Expand All @@ -87,10 +88,11 @@ static int alloc_buffer_ring_video(freenect_video_format fmt, buffer_ring_t *buf
buf->timestamp = 0;
buf->valid = 0;
buf->fmt = fmt;
buf->res = res;
return 0;
}

static int alloc_buffer_ring_depth(freenect_depth_format fmt, buffer_ring_t *buf)
static int alloc_buffer_ring_depth(freenect_resolution res, freenect_depth_format fmt, buffer_ring_t *buf)
{
int sz, i;
switch (fmt) {
Expand All @@ -100,7 +102,7 @@ static int alloc_buffer_ring_depth(freenect_depth_format fmt, buffer_ring_t *buf
case FREENECT_DEPTH_10BIT_PACKED:
case FREENECT_DEPTH_REGISTERED:
case FREENECT_DEPTH_MM:
sz = freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, fmt).bytes;
sz = freenect_find_depth_mode(res, fmt).bytes;
break;
default:
printf("Invalid depth format %d\n", fmt);
Expand All @@ -111,6 +113,7 @@ static int alloc_buffer_ring_depth(freenect_depth_format fmt, buffer_ring_t *buf
buf->timestamp = 0;
buf->valid = 0;
buf->fmt = fmt;
buf->res = res;
return 0;
}

Expand All @@ -124,6 +127,7 @@ static void free_buffer_ring(buffer_ring_t *buf)
buf->timestamp = 0;
buf->valid = 0;
buf->fmt = -1;
buf->res = -1;
}

static void producer_cb_inner(freenect_device *dev, void *data, uint32_t timestamp, buffer_ring_t *buf, set_buffer_t set_buffer)
Expand Down Expand Up @@ -217,30 +221,40 @@ static void init_thread(void)
pthread_create(&thread, NULL, init, NULL);
}

static int change_video_format(sync_kinect_t *kinect, freenect_video_format fmt)
static int change_video_format_with_res(sync_kinect_t *kinect, freenect_resolution res, freenect_video_format fmt)
{
freenect_stop_video(kinect->dev);
free_buffer_ring(&kinect->video);
if (alloc_buffer_ring_video(fmt, &kinect->video))
if (alloc_buffer_ring_video(res, fmt, &kinect->video))
return -1;
freenect_set_video_mode(kinect->dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, fmt));
freenect_set_video_mode(kinect->dev, freenect_find_video_mode(res, fmt));
freenect_set_video_buffer(kinect->dev, kinect->video.bufs[2]);
freenect_start_video(kinect->dev);
return 0;
}

static int change_depth_format(sync_kinect_t *kinect, freenect_depth_format fmt)
static int change_video_format(sync_kinect_t *kinect, freenect_resolution res, freenect_video_format fmt)
{
return change_video_format_with_res(kinect, FREENECT_RESOLUTION_MEDIUM, fmt);
}

static int change_depth_format_with_res(sync_kinect_t *kinect, freenect_resolution res, freenect_depth_format fmt)
{
freenect_stop_depth(kinect->dev);
free_buffer_ring(&kinect->depth);
if (alloc_buffer_ring_depth(fmt, &kinect->depth))
if (alloc_buffer_ring_depth(res, fmt, &kinect->depth))
return -1;
freenect_set_depth_mode(kinect->dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, fmt));
freenect_set_depth_mode(kinect->dev, freenect_find_depth_mode(res, fmt));
freenect_set_depth_buffer(kinect->dev, kinect->depth.bufs[2]);
freenect_start_depth(kinect->dev);
return 0;
}

static int change_depth_format(sync_kinect_t *kinect, freenect_resolution res, freenect_depth_format fmt)
{
return change_depth_format_with_res(kinect, FREENECT_RESOLUTION_MEDIUM, fmt);
}

static sync_kinect_t *alloc_kinect(int index)
{
sync_kinect_t *kinect = (sync_kinect_t*)malloc(sizeof(sync_kinect_t));
Expand All @@ -254,7 +268,9 @@ static sync_kinect_t *alloc_kinect(int index)
kinect->depth.bufs[i] = NULL;
}
kinect->video.fmt = -1;
kinect->video.res = -1;
kinect->depth.fmt = -1;
kinect->depth.res = -1;
freenect_set_video_callback(kinect->dev, video_producer_cb);
freenect_set_depth_callback(kinect->dev, depth_producer_cb);
pthread_mutex_init(&kinect->video.lock, NULL);
Expand All @@ -264,7 +280,7 @@ static sync_kinect_t *alloc_kinect(int index)
return kinect;
}

static int setup_kinect(int index, int fmt, int is_depth)
static int setup_kinect_with_res(int index, int res, int fmt, int is_depth)
{
pending_runloop_tasks_inc();
pthread_mutex_lock(&runloop_lock);
Expand Down Expand Up @@ -295,18 +311,22 @@ static int setup_kinect(int index, int fmt, int is_depth)
else
buf = &kinects[index]->video;
pthread_mutex_lock(&buf->lock);
if (buf->fmt != fmt) {
if ((buf->fmt != fmt) || (buf->res != res)) {
if (is_depth)
change_depth_format(kinects[index], (freenect_depth_format)fmt);
change_depth_format_with_res(kinects[index], (freenect_resolution)res, (freenect_depth_format)fmt);
else
change_video_format(kinects[index], (freenect_video_format)fmt);
}
change_video_format_with_res(kinects[index], (freenect_resolution)res, (freenect_video_format)fmt);
}
pthread_mutex_unlock(&buf->lock);
pthread_mutex_unlock(&runloop_lock);
pending_runloop_tasks_dec();
return 0;
}

static int setup_kinect(int index, int fmt, int is_depth) {
return setup_kinect_with_res(index, FREENECT_RESOLUTION_MEDIUM, fmt, is_depth);
}

static int sync_get(void **data, uint32_t *timestamp, buffer_ring_t *buf)
{
pthread_mutex_lock(&buf->lock);
Expand Down Expand Up @@ -339,7 +359,7 @@ static int runloop_enter(int index)
return -1;
}
if (!thread_running || !kinects[index])
if (setup_kinect(index, FREENECT_DEPTH_11BIT, 1))
if (setup_kinect_with_res(index, FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT, 1))
return -1;

pending_runloop_tasks_inc();
Expand All @@ -353,32 +373,46 @@ static void runloop_exit()
pending_runloop_tasks_dec();
}

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)
{
if (index < 0 || index >= MAX_KINECTS) {
printf("Error: Invalid index [%d]\n", index);
return -1;
}
if (!thread_running || !kinects[index] || kinects[index]->video.fmt != fmt)
if (setup_kinect(index, fmt, 0))
if (!thread_running || !kinects[index] || kinects[index]->video.fmt != fmt
|| kinects[index]->video.res != res)
if (setup_kinect_with_res(index, res, fmt, 0))
return -1;
sync_get(video, timestamp, &kinects[index]->video);
return 0;
}

int freenect_sync_get_depth(void **depth, uint32_t *timestamp, int index, freenect_depth_format fmt)
int freenect_sync_get_video(void **video, uint32_t *timestamp, int index, freenect_video_format fmt)
{
return freenect_sync_get_video_with_res(video, timestamp, index, FREENECT_RESOLUTION_MEDIUM, fmt);
}

int freenect_sync_get_depth_with_res(void **depth, uint32_t *timestamp, int index,
freenect_resolution res, freenect_depth_format fmt)
{
if (index < 0 || index >= MAX_KINECTS) {
printf("Error: Invalid index [%d]\n", index);
return -1;
}
if (!thread_running || !kinects[index] || kinects[index]->depth.fmt != fmt)
if (setup_kinect(index, fmt, 1))
if (!thread_running || !kinects[index] || kinects[index]->depth.fmt != fmt
|| kinects[index]->depth.res != res)
if (setup_kinect_with_res(index, res, fmt, 1))
return -1;
sync_get(depth, timestamp, &kinects[index]->depth);
return 0;
}

int freenect_sync_get_depth(void **depth, uint32_t *timestamp, int index, freenect_depth_format fmt)
{
return freenect_sync_get_depth_with_res(depth, timestamp, index, FREENECT_RESOLUTION_MEDIUM, fmt);
}

int freenect_sync_get_tilt_state(freenect_raw_tilt_state **state, int index)
{
if (runloop_enter(index)) return -1;
Expand Down
19 changes: 17 additions & 2 deletions wrappers/c_sync/libfreenect_sync.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,8 @@
extern "C" {
#endif

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);
/* Synchronous video function, starts the runloop if it isn't running

The returned buffer is valid until this function is called again, after which the buffer must not
Expand All @@ -43,14 +44,21 @@ int freenect_sync_get_video(void **video, uint32_t *timestamp, int index, freene
video: Populated with a pointer to a video buffer with a size of the requested type
timestamp: Populated with the associated timestamp
index: Device index (0 is the first)
res: Valid resolution
fmt: Valid format

Returns:
Nonzero on error.
*/

int freenect_sync_get_video(void **video, uint32_t *timestamp, int index, freenect_video_format fmt);
/* Does the exact same as above, but with a default resolution,
so backwards compatibilty is maintained.
The Resolution is kept at the default FREENECT_RESOLUTION_MEDIUM
*/

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);
/* Synchronous depth function, starts the runloop if it isn't running

The returned buffer is valid until this function is called again, after which the buffer must not
Expand All @@ -60,12 +68,19 @@ int freenect_sync_get_depth(void **depth, uint32_t *timestamp, int index, freene
depth: Populated with a pointer to a depth buffer with a size of the requested type
timestamp: Populated with the associated timestamp
index: Device index (0 is the first)
res: Valid resolution
fmt: Valid format

Returns:
Nonzero on error.
*/

int freenect_sync_get_depth(void **depth, uint32_t *timestamp, int index, freenect_depth_format fmt);
/* Again, a wrapper function to keep backward compatibility.
The Resolution is kept at the default FREENECT_RESOLUTION_MEDIUM

*/

int freenect_sync_set_tilt_degs(int angle, int index);
/* Tilt function, starts the runloop if it isn't running

Expand Down