//ESand somewhere between working and having features
#include
#include
#include
#include
#include //tcgetattr and sleep
#include
#include
#include
#include
//g++ -g -Wall -o "ppplotKinect" "ppplotKinect.cpp" -lSDL -lSDL_ttf -lSDL_mixer -lSDL_image -lfreenect -lfreenect_sync
SDL_Surface* Backbuffer = NULL;
/*
* Config file: all integers for now, file: pplot.conf
* initX,Y: relate to bounding area of the sensor. if we dont need to read more data points, dont.
* pixelation reffers to limiting resolution by skipping pixels, which results in pixelation.
* pixelation, brightness, minDepth, maxDepth, depthScalling.
* pxX,pxY,brightness,minD, maxD, DScale, initX1,initX2, initY1, initY2
* */
freenect_context *f_ctx;
freenect_device *f_dev;
#define WIDTH 640
#define HEIGHT 480
//sysConfig vars
int pxX=0;
int pxY=0;
int brightness=30;
int minD=0;
int maxD=2047;
int DScale=1;
int initX1=0;
int initY1=0;
int initX2=640;
int initY2=480;
int accelThreshX=0;
int accelThreshY=0;
int accelThreshZ=0;
using namespace std;
int die = 0;
int kInit(); //initiallize / test kinect library and device connection
void kClose(); //close the kinect device
void depth_cb(freenect_device *dev, void *depth, uint32_t timestamp);
void no_kinect_quit(void);
bool ProgramIsRunning();
void DrawPixel(SDL_Surface *surface, int x, int y , unsigned int depth_value);
void IR(freenect_device *dev, uint16_t brightness);
int getCFG(string configFile);
int main(int argc, char* args[]){
//read config file, and assign variables, unless the config file isnt pressent.
string configFile="pplot.cfg";
getCFG(configFile); //get or reset config variables from file or use system
if(SDL_Init(SDL_INIT_EVERYTHING) < 0){
printf("Failed to initialize SDL!\n");
return 0;
}
kInit(); //init kinect lib, and device
int ire = freenect_get_ir_brightness(f_dev);
printf("%d brightness\n", ire);
//freenect_start_ir(f_dev);
IR(f_dev,30); //brightness 1 to 50 may effect resolution depending on conditions.
freenect_set_depth_callback(f_dev, depth_cb);
// Start the depth stream
freenect_start_depth(f_dev);
Backbuffer = SDL_SetVideoMode(640 ,480, 32, SDL_SWSURFACE);
SDL_WM_SetCaption("Ghost Data", NULL);
while(ProgramIsRunning()) {
if (freenect_process_events(f_ctx) < 0){
break;
}
}
SDL_Quit();
kClose();
return 0;
}
void depth_cb(freenect_device *dev, void *depth, uint32_t timestamp){
// Cast the depth data to unsigned short (16-bit) xbox uses 11 bits of depth
uint16_t *depth_data = (uint16_t *)depth;
unsigned int depth_value =0;
int x = 0;
int y = 0;
int index = 0; //index 0 to 307840
for (x=0; x<=WIDTH; x+=pxX){ //pxX cant B 3 I guess
index = y*WIDTH+x;
depth_value = depth_data[index];
DrawPixel(Backbuffer, x,y, depth_value);
if(x>=WIDTH){
if(y>=HEIGHT){
x=0;
//y+=pxY;
y=0;
SDL_Flip(Backbuffer);
return;
}
y+=pxY; //goto next line: pxY
x=0;
}
}
}
bool ProgramIsRunning(){
SDL_Event event;
int brightness = freenect_get_ir_brightness(f_dev);
bool running = true;
while(SDL_PollEvent(&event)) {
if(event.type == SDL_QUIT)
running = false;
}
if(event.type==SDL_KEYDOWN){
switch(event.key.keysym.sym){
case SDLK_ESCAPE :
running=false;
break;
case SDLK_a :
//get brightness add 1
brightness = freenect_get_ir_brightness(f_dev);
freenect_set_ir_brightness(f_dev, brightness+1);
printf("brightness: %d \n", brightness);
if (brightness >=50){
brightness=50;
break;
}
break;
case SDLK_d :
//get brightness sub 1
brightness = freenect_get_ir_brightness(f_dev);
freenect_set_ir_brightness(f_dev, brightness-1);
printf("brightness: %d \n", brightness);
if (brightness <=1){
brightness=1;
break;
}
break;
default :
break;
}
}
return running;
}
void DrawPixel(SDL_Surface *surface,int x , int y , unsigned int depth_value){
if(SDL_MUSTLOCK(surface)){
if(SDL_LockSurface(surface) < 0)
return;
}
Uint32 *buffer;
Uint32 color;
color = SDL_MapRGB(surface->format, 0, 0, 0);
if(x >= surface->w || x < 0 || y >= surface->h || y < 0)
return;
//write a switch to convert depth to rgb values.
switch (depth_value) {
//depth value fckery
case 0 ... 400:
color = SDL_MapRGB(surface->format, depth_value+100,0,0); //red
break;
case 401 ... 624:
color = SDL_MapRGB(surface->format, 255,depth_value/3,0); //orange scale
break;
case 625 ... 824:
color = SDL_MapRGB(surface->format, depth_value-300,depth_value-300,0); //yello
break;
case 825 ... 925:
color = SDL_MapRGB(surface->format, 0,depth_value/5,0); //green scale
break;
case 926 ... 1480:
color = SDL_MapRGB(surface->format, depth_value/20,0,depth_value/7); //indiogo
break;
case 1481 ... 1999:
color = SDL_MapRGB(surface->format, 0,255, 255);
break;
case 2000 ... 2047:
color = SDL_MapRGB(surface->format, depth_value,depth_value,depth_value);
break;
default:
color = SDL_MapRGB(surface->format, 0,0,0);
break;
}
buffer = (Uint32*)surface->pixels + y*surface->pitch/4+x;
(*buffer) = color;
if(SDL_MUSTLOCK(surface))
SDL_UnlockSurface(surface);
}
//Kinect Stuff
int kInit(){
// Initialize libfreenect
if (freenect_init(&f_ctx, NULL) < 0) {
printf("Failed to initialize libfreenect!\n");
exit(1);
}
// Set the log level (optional)
// freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
// Open the Kinect device
if (freenect_open_device(f_ctx, &f_dev, 0) < 0) {
printf("Failed to open Kinect device!\n");
exit(1);
}
return 0;
}
void IR(freenect_device *dev, uint16_t brightness){
int ire = freenect_get_ir_brightness(f_dev);
freenect_set_ir_brightness(f_dev, brightness);
printf("%d brightness\n", ire);
cout << "pxX: " << pxX << " pxY:"<
