Signed-off-by: Josh Grunzweig <[email protected]>

Author: Josh Grunzweig

wrappers/ruby/ffi-libfreenect/History.txt

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+== 0.1.1 / 2010-12-22
+* Initial release version
+
+== 0.1.0 / 2010-12-13
+* Initial packaged version

wrappers/ruby/ffi-libfreenect/LICENSE.txt

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+The MIT License
+
+Copyright (c) 2010 Josh Grunzweig & Eric Monti
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+'Software'), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED 'AS IS', WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+

wrappers/ruby/ffi-libfreenect/README.rdoc

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+= ffi-libfreenect
+
+FFI-based Ruby wrapper for the OpenKinect libfreenect library.
+
+== Requirements
+  * ffi >= 0.5.0
+
+== Installation
+
+=== via Gem
+
+    (sudo)? gem install ffi-libfreenect
+
+=== via Rake
+
+    git clone http://github.com/jgrunzweig/ffi-libfreenect.git
+    cd ffi-libfreenect
+    (sudo)? gem install jeweler
+    rake install
+
+=== Synopsis
+
+    require 'freenect'
+
+    ctx = Freenect.init()
+    devs = ctx.num_devices
+
+    STDERR.puts "Number of Kinects detected: #{devs}"
+    unless devs > 0
+      STDERR.puts "Error: no kinect detected"
+      exit 1
+    end
+
+    STDERR.puts "Selecting device 0"
+    dev = ctx.open_device(0)
+
+    dev.set_led(:red)   # play with the led
+    dev.set_tilt_degrees(30)  # tilt up to max
+    sleep 1
+    dev.set_tilt_degrees(-30) # tilt down to max
+    sleep 1
+    dev.set_tilt_degrees(0.0) # tilt back to center
+    sleep 1
+    dev.set_led(:green)   # play with the led
+
+    # Actual video and depth capture work similarly to eachother.
+    # But they're still both pretty un-sugary.
+    #
+    # Future versions will probably abstract this and try to make it more 
+    # ruby-ish.
+    #
+    # The example below shows how to write a single video frame to a PPM file.
+
+    dev.set_depth_format(Freenect::DEPTH_11BIT)
+    dev.set_video_format(Freenect::VIDEO_RGB)
+    dev.start_depth()
+    dev.start_video()
+
+    $snapshot_finished = nil
+
+    STDERR.puts "Taking snapshot"
+    dev.set_video_callback do |device, video, timestamp|
+      if not $snapshot_finished
+        fname = "%u.ppm" % timestamp
+        STDERR.puts "Writing #{fname}"
+        File.open(fname, "w") do |f|
+          f.puts("P6 %d %d 255\n" % [ Freenect::FRAME_W, Freenect::FRAME_H ] )
+          f.write(video.read_string_length(Freenect::RGB_SIZE))
+        end
+        $snapshot_finished = true
+      end
+    end
+
+    until $snapshot_finished 
+      break if (ctx.process_events < 0)
+    end
+
+    dev.set_led(:off)
+    dev.stop_depth
+    dev.stop_video
+    dev.close
+    ctx.close
+
+== Copyright
+
+Copyright (c) 2010 Josh Grunzweig & Eric Monti. See LICENSE.txt for details.

wrappers/ruby/ffi-libfreenect/Rakefile

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+require 'rubygems'
+require 'rake'
+
+begin
+  require 'jeweler'
+  Jeweler::Tasks.new do |gem|
+    gem.name = "ffi-libfreenect"
+    gem.summary = gem.description = %Q{FFI bindings for the libfreenect OpenKinect library}
+    gem.homepage = "http://github.com/jgrunzweig/ffi-libfreenect"
+    gem.authors = ["Josh Grunzweig", "Eric Monti"]
+
+    gem.rdoc_options += ["--title", "FFI Freenect", "--main",  "README.rdoc", "--line-numbers"]
+    gem.add_dependency("ffi", ">= 0.5.0")
+
+    # gem is a Gem::Specification... see http://www.rubygems.org/read/chapter/20 for additional settings
+  end
+  Jeweler::GemcutterTasks.new
+rescue LoadError
+  puts "Jeweler (or a dependency) not available. Install it with: gem install jeweler"
+end
+
+require 'spec/rake/spectask'
+Spec::Rake::SpecTask.new(:spec) do |spec|
+  spec.libs << 'lib' << 'spec'
+  spec.spec_files = FileList['spec/**/*_spec.rb']
+end
+
+Spec::Rake::SpecTask.new(:rcov) do |spec|
+  spec.libs << 'lib' << 'spec'
+  spec.pattern = 'spec/**/*_spec.rb'
+  spec.rcov = true
+end
+
+task :spec => :check_dependencies
+
+task :default => :spec
+
+begin
+  require 'yard'
+  YARD::Rake::YardocTask.new
+rescue LoadError
+  task :yardoc do
+    abort "YARD is not available. In order to run yardoc, you must: sudo gem install yard"
+  end
+end

wrappers/ruby/ffi-libfreenect/VERSION

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+0.1.1

wrappers/ruby/ffi-libfreenect/examples/record.rb

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+#!/usr/bin/env ruby
+# This is a more or less a straight ruby port of the "record" utility 
+# included in the libfreenect fakenect directory using the 
+# ffi-libfreenect ruby class wrappers. 
+#
+# This was really implemented just to see if ffi-libfreenect was working.
+# However, the output should be completely compatible the C version fakenect.
+#
+# usage: record.rb output_dir
+#
+
+begin
+  require 'rubygems'
+rescue LoadError
+end
+
+$: << File.expand_path(File.join(File.dirname(__FILE__), "../lib"))
+require 'freenect'
+
+$last_timestamp = 0
+$record_running = true
+
+def open_dump(type, timestamp, extension)
+  $last_timestamp = timestamp
+  filename = "%s-%f-%u.%s" % [ type, Time.now.to_f, timestamp, extension]
+  STDERR.puts "Writing: #{File.join($out_dir, filename)}"
+  File.open(File.join($out_dir,"INDEX.txt"), "a"){|f| f.puts(filename) }
+  File.open(File.join($out_dir, filename), "wb") {|f| yield f}
+end
+
+orig_dir = Dir.pwd
+unless $out_dir = ARGV.shift
+  STDERR.puts "usage: #{File.basename $0} output_dir"
+  exit 1
+end
+Dir.mkdir($out_dir) unless File.directory?($out_dir)
+
+trap('INT') do
+  STDERR.puts "Caught INT signal cleaning up"
+  $record_running = false
+end
+
+ctx = Freenect.init()
+dev = ctx.open_device(0)
+
+dev.set_depth_format(Freenect::DEPTH_11BIT)
+dev.set_video_format(Freenect::VIDEO_RGB)
+dev.start_depth()
+dev.start_video()
+
+dev.set_depth_callback do |device, depth, timestamp|
+  open_dump('d', timestamp, "pgm") do |f|
+    f.puts("P5 %d %d 65535\n" % [ Freenect::FRAME_W, Freenect::FRAME_H ] )
+    f.write(depth.read_string_length(Freenect::DEPTH_11BIT_SIZE))
+  end
+end
+
+dev.set_video_callback do |device, video, timestamp|
+  open_dump('r', timestamp, 'ppm') do |f|
+    f.puts("P6 %d %d 255\n" % [ Freenect::FRAME_W, Freenect::FRAME_H ] )
+    f.write(video.read_string_length(Freenect::RGB_SIZE))
+  end
+end
+
+while $record_running and (ctx.process_events >= 0)
+  open_dump('a', $last_timestamp, "dump") do |f|
+    state = dev.get_tilt_state
+    f.write(state.to_ptr.read_string_length(state.size))
+  end
+end
+
+Dir.chdir(orig_dir)
+dev.stop_depth
+dev.stop_video
+dev.close
+ctx.close

wrappers/ruby/ffi-libfreenect/examples/tilt_led.rb

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+class TILT_LED
+
+  def initialize
+    $: << File.expand_path(File.join(File.dirname(__FILE__), '../lib'))
+    require 'freenect'
+    check_args
+    initialize_device
+    tilt_led_set
+    cleanup
+  end
+
+  #
+  # Define usage
+  #
+  def script_usage
+    puts "Usage: ruby tilt_led.rb -l (0-6) -t (-30-30)"
+    puts "LED Options:"
+    puts "   0 - Off"
+    puts "   1 - Green"
+    puts "   2 - Red"
+    puts "   3 - Yellow"
+    puts "   4 - Blink Yellow"
+    puts "   5 - Blink Green"
+    puts "   6 - Blink Red/Yellow"
+    puts "Tilt Options:"
+    puts "   Value must be between -30 and 30 degrees."
+    exit 1
+  end
+
+  #
+  # Check arguments. I'm sure there's a better way to do this. What can I saw, I'm a noob.
+  #
+  def check_args
+    if( ARGV.include?("-l") ||  ARGV.include?("-t") )
+      if (ARGV.include?("-l"))
+        @led_option = ARGV[(ARGV.index("-l") + 1 )]
+        ARGV.delete("-l")
+        ARGV.delete(@led_option)
+        if @led_option.to_i < 0 || @led_option.to_i > 6
+          script_usage
+        end
+      end
+      if (ARGV.include?("-t"))
+        @tilt_option = ARGV[(ARGV.index("-t") + 1 )]
+        ARGV.delete("-t")
+        ARGV.delete(@tilt_option)
+        if @tilt_option.to_i < -30 || @tilt_option.to_i > 30
+          script_usage
+        end
+      end
+    else
+      script_usage
+    end
+  end
+  
+  def initialize_device
+    @ctx = FFI::MemoryPointer.new(:pointer)
+    @dev = FFI::MemoryPointer.new(:pointer)
+    #
+    # initialize context / @device
+    #
+    if (FFI::Freenect.freenect_init(@ctx,nil) != 0)
+        puts "Error: can't initialize context"
+        exit 1
+    end
+    @ctx = @ctx.read_pointer
+
+    if (FFI::Freenect.freenect_open_device(@ctx, @dev, 0) != 0)
+      puts "Error: can't initialize device"
+      exit 1
+    end
+    @dev = @dev.read_pointer
+  end
+  
+  def tilt_led_set
+    #
+    # Set tilt and/or led options on the @device
+    #
+    puts "Number of devices: #{FFI::Freenect.freenect_num_devices(@ctx)}"
+    if (not @tilt_option.nil?)
+      puts "Tilt set to: #{@tilt_option}"
+      FFI::Freenect.freenect_set_tilt_degs(@dev, @tilt_option.to_f)
+    end
+    if (not @led_option.nil?)
+      puts "LED set to: #{@led_option}"
+      FFI::Freenect.freenect_set_led(@dev, @led_option.to_i)
+    end
+  end
+
+  def cleanup
+    #
+    # Close the context and @device (for cleanup purposes)
+    #
+    FFI::Freenect.freenect_close_device(@dev)
+    if FFI::Freenect.freenect_shutdown(@ctx) != 0
+      puts "Error shutting down context"
+      exit 1
+    else
+      puts "Successfully shut down context"
+      exit 0
+    end
+  end
+end
+
+run = TILT_LED.new

wrappers/ruby/ffi-libfreenect/examples/tilt_nod.rb

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+#!/usr/bin/env ruby
+#
+
+$: << File.expand_path(File.join(File.dirname(__FILE__), "../lib"))
+
+require 'freenect'
+
+ctx = Freenect.init
+unless ctx.num_devices() > 0
+  STDERR.puts "No kinect device detected"
+  exit 1
+end
+
+dev = ctx[0]
+dev.set_led(:blink_red_yellow)
+
+3.times do
+  dev.set_tilt_degrees(15)
+  sleep 2
+  dev.set_tilt_degrees(-15)
+  sleep 2
+end
+dev.set_tilt_degrees(0.0)
+
+dev.set_led(:off)
+dev.close
+ctx.shutdown
+