Added C++ API

Signed-off-by: Vincent Le Ligeour <[email protected]>

Author: yoda-jm

c/include/libfreenect.hpp

@@ -0,0 +1,139 @@
+/*
+ * This file is part of the OpenKinect Project. http://www.openkinect.org
+ *
+ * Copyright (c) 2010 individual OpenKinect contributors. See the CONTRIB file
+ * for details.
+ *
+ * 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.
+ */
+
+#pragma once
+
+#include <libfreenect.h>
+#include <stdexcept>
+#include <map>
+#include <pthread.h>
+
+namespace Freenect {
+	class Noncopyable {
+	  public:
+		Noncopyable() {}
+		~Noncopyable() {}
+	  private:
+		Noncopyable( const Noncopyable& );
+		const Noncopyable& operator=( const Noncopyable& );
+	};
+
+	class FreenectDevice : Noncopyable {
+	  public:
+		FreenectDevice(freenect_context *_ctx, int _index) {
+			if(freenect_open_device(_ctx, &m_dev, _index) != 0) throw std::runtime_error("Cannot open Kinect");
+			freenect_set_user(m_dev, this);
+			freenect_set_rgb_format(m_dev, FREENECT_FORMAT_RGB);
+			freenect_set_depth_format(m_dev, FREENECT_FORMAT_11_BIT);
+			freenect_set_depth_callback(m_dev, freenect_depth_callback);
+			freenect_set_rgb_callback(m_dev, freenect_rgb_callback);
+		}
+		~FreenectDevice() {
+			if(freenect_close_device(m_dev) != 0) throw std::runtime_error("Cannot shutdown Kinect");
+		}
+		void startRGB() {
+			if(freenect_start_rgb(m_dev) != 0) throw std::runtime_error("Cannot start RGB callback");
+		}
+		void stopRGB() {
+			if(freenect_stop_rgb(m_dev) != 0) throw std::runtime_error("Cannot stop RGB callback");
+		}
+		void startDepth() {
+			if(freenect_start_depth(m_dev) != 0) throw std::runtime_error("Cannot start depth callback");
+		}
+		void stopDepth() {
+			if(freenect_stop_depth(m_dev) != 0) throw std::runtime_error("Cannot stop depth callback");
+		}
+		void setTiltDegrees(double _angle) {
+			if(freenect_set_tilt_degs(m_dev, _angle) != 0) throw std::runtime_error("Cannot set angle in degrees");
+		}
+		void setLed(freenect_led_options _option) {
+			if(freenect_set_led(m_dev, _option) != 0) throw std::runtime_error("Cannot set led");
+		}
+		void getAccelerometers(double &_x, double &_y, double &_z) {
+			if(freenect_get_mks_accel(m_dev,&_x, &_y, &_z) != 0) throw std::runtime_error("Cannot get mks accemerometers");
+		}
+		void getAccelerometers(int16_t &_x, int16_t &_y, int16_t &_z) {
+			if(freenect_get_raw_accel(m_dev,&_x, &_y, &_z) != 0) throw std::runtime_error("Cannot get raw accemerometers");
+		}
+		// Do not call directly even in child
+		virtual void RGBCallback(freenect_pixel *rgb, uint32_t timestamp) = 0;
+		// Do not call directly even in child
+		virtual void DepthCallback(freenect_depth *depth, uint32_t timestamp) = 0;
+	  private:
+		freenect_device *m_dev;
+		static void freenect_depth_callback(freenect_device *dev, freenect_depth *depth, uint32_t timestamp) {
+			FreenectDevice* device = static_cast<FreenectDevice*>(freenect_get_user(dev));
+			device->DepthCallback(depth, timestamp);
+		}
+		static void freenect_rgb_callback(freenect_device *dev, freenect_pixel *rgb, uint32_t timestamp) {
+			FreenectDevice* device = static_cast<FreenectDevice*>(freenect_get_user(dev));
+			device->RGBCallback(rgb, timestamp);
+		}
+	};
+
+	template <class T>class Freenect : Noncopyable {
+	  public:
+		Freenect() : m_stop(false) {
+			if(freenect_init(&m_ctx, NULL) != 0) throw std::runtime_error("Cannot initialize freenect library");
+			if(pthread_create(&m_thread, NULL, pthread_callback, (void*)this) != 0) throw std::runtime_error("Cannot initialize freenect thread");
+		}
+		~Freenect() {
+			for(typename std::map<int, T*>::iterator it = m_devices.begin() ; it != m_devices.end() ; ++it) {
+				delete it->second;
+			}
+			m_stop = true;
+			pthread_join(m_thread, NULL);
+			if(freenect_shutdown(m_ctx) != 0) throw std::runtime_error("Cannot cleanup freenect library");
+		}
+		T& createDevice(int _index) {
+			m_devices.insert(std::make_pair<int, T*>(_index, new T(m_ctx, _index)));
+			return *(m_devices.at(_index));
+		}
+		void deleteDevice(int _index) {
+			m_devices.erase(_index);
+		}
+		int deviceCount() {
+			return freenect_num_devices(m_ctx);
+		}
+		// Do not call directly, thread runs here
+		void operator()() {
+			while(!m_stop) {
+				if(freenect_process_events(m_ctx) != 0) throw std::runtime_error("Cannot process freenect events");
+			}
+		}
+		static void *pthread_callback(void *user_data) {
+			Freenect<T>* freenect = static_cast<Freenect<T>*>(user_data);
+			(*freenect)();
+		}
+	  private:
+		freenect_context *m_ctx;
+		volatile bool m_stop;
+		pthread_t m_thread;
+		std::map<int, T*> m_devices;
+	};
+
+}
+

c/lib/CMakeLists.txt

@@ -32,5 +32,5 @@ add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/inits.c
 	COMMAND python ${CMAKE_CURRENT_SOURCE_DIR}/geninits.py ${CMAKE_CURRENT_SOURCE_DIR}/inits.txt ${CMAKE_CURRENT_BINARY_DIR}/inits.c)
 
 # Install the header file
-install (FILES "../include/libfreenect.h"
+install (FILES "../include/libfreenect.h" "../include/libfreenect.hpp"
 	DESTINATION ${PROJECT_INCLUDE_INSTALL_DIR})