Initial commit of matlab wrapper (minally tested, need feedback)

Signed-off-by: Brandyn A. White <[email protected]>

Author: Brandyn A. White

wrappers/matlab/Freenect.m

@@ -0,0 +1,205 @@
+% Copyright (c) 2010 Ryan Farrell ([email protected])
+% 	    	     Brandyn White ([email protected])
+%
+% This code is licensed to you under the terms of the Apache License, version
+% 2.0, or, at your option, the terms of the GNU General Public License,
+% version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
+% or the following URLs:
+% http://www.apache.org/licenses/LICENSE-2.0
+% http://www.gnu.org/licenses/gpl-2.0.txt
+%
+% If you redistribute this file in source form, modified or unmodified, you
+% may:
+%   1) Leave this header intact and distribute it under the same terms,
+%      accompanying it with the APACHE20 and GPL20 files, or
+%   2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
+%   3) Delete the GPL v2 clause and accompany it with the APACHE20 file
+% In all cases you must keep the copyright notice intact and include a copy
+% of the CONTRIB file.
+%
+% Binary distributions must follow the binary distribution requirements of
+% either License.
+
+classdef Freenect < handle
+    % FREENECT Provides access to Microsoft Kinect using libfreenect
+    %   Available methods: getFrame()
+    
+    properties (Constant, Hidden)
+        % Note, if libfreenect is installed elsewhere, you'll need to
+        % change the INSTALLED_PATH
+        INSTALLED_PATH = '/usr/local/';
+        
+        % The LIBRARY_NAME will need to be modified for other platforms and
+        % you'll also need to ensure that libfreenect.h is in the same
+        % include directory
+        LIBRARY_NAME = fullfile(Freenect.INSTALLED_PATH,'lib/libfreenect_sync.so');
+        SYNC_HEADER  = fullfile(Freenect.INSTALLED_PATH,'include/libfreenect_sync.h');
+        
+        % If you'd like to see the warnigns that MATLAB returns when
+        % loading the library, then enable this flag.
+        SHOW_LIBRARY_WARNINGS = false;
+    end
+
+    properties (Dependent)
+        cameraId;
+    end
+    
+    properties (Access=protected)
+        internalCameraId;
+        
+        clrBuffer;
+          hClrBuffer;
+        clrTStamp;
+          hClrTStamp;
+
+        depthBuffer;
+          hDepthBuffer;
+        depthTStamp;
+          hDepthTStamp;
+
+        lastClrPtr;
+        lastClrTStamp;
+        lastDepthPtr;
+        lastDepthTStamp;
+    end
+    
+    methods
+        function OBJ = Freenect( CAM_ID )
+            persistent gCameraMap;
+
+            assert( nargin==1 );
+            
+            
+            Freenect.ensureInitialized();
+
+            
+            OBJ.internalCameraId = int32(CAM_ID);
+            
+            OBJ.clrBuffer    = zeros(640*480*3,1,'uint8');
+            OBJ.depthBuffer  = zeros(640*480,1,'uint16');
+            OBJ.hClrBuffer   = libpointer('voidPtrPtr',OBJ.clrBuffer);
+            OBJ.hDepthBuffer = libpointer('voidPtrPtr',OBJ.depthBuffer);
+            
+            OBJ.clrTStamp = zeros(1,1,'uint32');
+            OBJ.depthTStamp = zeros(1,1,'uint32');
+            OBJ.hClrTStamp = libpointer('uint32Ptr',OBJ.clrTStamp);
+            OBJ.hDepthTStamp = libpointer('uint32Ptr',OBJ.depthTStamp);
+            
+                        
+            if (isfield(gCameraMap,sprintf('CAM%d',CAM_ID)))
+                throw(MException('Freenect:cameraTaken',...
+                    sprintf('Camera ID %d Already in Use!',CAM_ID)));
+            else
+                % Try to get a frame, make sure it's working.
+                [RGB,DEPTH] = OBJ.getFrame();
+                if ( isempty(RGB) || isempty(DEPTH) )
+                    throw( MException('Freenect:ConnectionError',...
+                        sprintf('Couldn''t connect to camera %d',...
+                        OBJ.internalCameraId)));
+                end
+                % Otherwise, we're good
+                gCameraMap.(sprintf('CAM%d',CAM_ID)) = true;
+            end
+            
+        end
+        
+        function [ID] = get.cameraId(OBJ)
+            ID = OBJ.internalCameraId;
+        end
+        
+        function [RGB,DEPTH] = getFrame(OBJ)
+            % [RGB,DEPTH] = OBJ.GETFRAME() extracts the current 8-bit RGB
+            % and 11-bit DEPTH images.
+
+            ReturnClr   = OBJ.getColorPtr();
+            ReturnDepth = OBJ.getDepthPtr();
+            
+            if ( ReturnClr == 0 )
+                RGB   = permute(reshape(OBJ.lastClrPtr.Value,[3 640 480]),[3 2 1]);
+            else
+                RGB = [];
+            end
+            
+            if ( ReturnDepth == 0 )
+                DEPTH = reshape(OBJ.lastDepthPtr.Value,[640 480])';
+            else
+                DEPTH = [];
+            end
+        end
+    end
+    
+    
+    methods(Access=protected)
+        function [RETURN] = getColorPtr(OBJ)
+            VIDEO_MODE = 0;
+            RawPtr = calllib('freenectAlias','freenect_sync_get_video',...
+                OBJ.hClrBuffer,OBJ.hClrTStamp,...
+                OBJ.internalCameraId, VIDEO_MODE);
+            OBJ.lastClrPtr    = get(OBJ.hClrBuffer);
+            OBJ.lastClrTStamp = get(OBJ.hClrTStamp);
+            RETURN = RawPtr;
+        end
+        
+        function [RETURN] = getDepthPtr(OBJ)
+            DEPTH_MODE = 0;
+            RawPtr = calllib('freenectAlias','freenect_sync_get_depth',...
+                OBJ.hDepthBuffer,OBJ.hDepthTStamp,...
+                OBJ.internalCameraId, DEPTH_MODE);
+            OBJ.lastDepthPtr    = get(OBJ.hDepthBuffer);
+            OBJ.lastDepthTStamp = get(OBJ.hDepthTStamp);
+            RETURN = RawPtr;
+        end
+    end
+    
+    
+    methods (Static,Access=protected)
+        function [] = ensureInitialized()
+            persistent gAlreadyInitialized;
+            
+            if ( isempty(gAlreadyInitialized) )
+                
+                try
+                    unloadlibrary('freenectAlias');
+                catch me %#ok<NASGU>
+                end
+                
+                % First ensure library, headers exists
+                OTHER_HEADERS = fullfile(Freenect.INSTALLED_PATH,'include');
+                MAIN_FREENECT_HEADER = fullfile(OTHER_HEADERS,'libfreenect.h');
+                if ( ~exist( Freenect.LIBRARY_NAME,'file' ) )
+                    throwAsCaller(MException('Freenect:LibraryMissing',...
+                        sprintf('Couldn''t find library: %s',...
+                        Freenect.LIBRARY_NAME)));
+                elseif ( ~exist( Freenect.SYNC_HEADER,'file' ) )
+                    throwAsCaller(MException('Freenect:HeaderMissing',...
+                        sprintf('Couldn''t find header: %s',...
+                        Freenect.SYNC_HEADER)));
+                elseif ( ~exist( MAIN_FREENECT_HEADER,'file' ) )
+                    throwAsCaller(MException('Freenect:HeaderMissing',...
+                        sprintf('Couldn''t find header: %s',...
+                        MAIN_FREENECT_HEADER)));
+                end
+                
+                [~,warnings] = loadlibrary( ...
+                    Freenect.LIBRARY_NAME, ...
+                    Freenect.SYNC_HEADER, ...
+                    'alias', 'freenectAlias', ...
+                    'includepath', OTHER_HEADERS );
+                
+                if ( Freenect.SHOW_LIBRARY_WARNINGS )
+                    fprintf(2,warnings);
+                end
+                                
+                gAlreadyInitialized = true;
+            end
+            
+
+        end
+        
+        function [] = shutdown()
+            % call the freenect shutdown() here - TODO
+            % currently nothing calls shutdown()...
+            unloadlibrary('freenectAlias');
+        end
+    end
+end