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/****************************************************************************
**
** Copyright (C) 2015 Digia Plc and/or its subsidiary(-ies).
** Contact: For any questions to Digia, please use the contact form at
** http://www.qt.io
**
** This file is part of the examples of the Qt Enterprise Embedded.
**
** $QT_BEGIN_LICENSE:BSD$
** You may use this file under the terms of the BSD license as follows:
**
** "Redistribution and use in source and binary forms, with or without
** modification, are permitted provided that the following conditions are
** met:
** * Redistributions of source code must retain the above copyright
** notice, this list of conditions and the following disclaimer.
** * Redistributions in binary form must reproduce the above copyright
** notice, this list of conditions and the following disclaimer in
** the documentation and/or other materials provided with the
** distribution.
** * Neither the name of Digia Plc and its Subsidiary(-ies) nor the names
** of its contributors may be used to endorse or promote products derived
** from this software without specific prior written permission.
**
**
** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
** "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
** LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
** A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
** OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE."
**
** $QT_END_LICENSE$
**
****************************************************************************/
#include "qquickfreenectbackend.h"
#include <QElapsedTimer>
#include <QVector3D>
#include "libfreenect.h"
static std::weak_ptr<QQuickFreenectBackend> s_instance;
std::shared_ptr<QQuickFreenectBackend> QQuickFreenectBackend::instance()
{
std::shared_ptr<QQuickFreenectBackend> ret = s_instance.lock();
if (!ret)
s_instance = ret = std::shared_ptr<QQuickFreenectBackend>(new QQuickFreenectBackend);
return ret;
}
QQuickFreenectBackend::QQuickFreenectBackend()
{
start();
}
QQuickFreenectBackend::~QQuickFreenectBackend()
{
m_exitRequested = true;
wait();
s_instance.reset();
}
uint8_t *QQuickFreenectBackend::pickVideoFrontBuffer()
{
QMutexLocker lock(&m_mutex);
if (m_gotVideoFrame) {
std::swap(m_videoMid, m_videoFront);
m_gotVideoFrame = false;
return m_videoFront;
}
return 0;
}
void QQuickFreenectBackend::run()
{
freenect_context *f_ctx;
freenect_device *f_dev = 0;
QVector3D accelVectorAccum;
QVector3D emittedAccelVector;
QElapsedTimer accelVectorTimer;
accelVectorTimer.start();
if (freenect_init(&f_ctx, NULL) < 0) {
emit errorStringValue(QStringLiteral("Initialization of libfreenect failed, please restart."));
qWarning("freenect_init() failed");
return;
}
#ifndef QT_NO_DEBUG
freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
#endif
freenect_select_subdevices(f_ctx, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
int numDevices = freenect_num_devices(f_ctx);
if (!numDevices) {
emit errorStringValue(QStringLiteral("WARNING!\nNo Kinect detected, waiting for device..."));
qWarning("WARNING: No Kinect detected, make sure that udev permissions are set properly. See <src/libfreenect/platform/linux/udev/README>.");
}
int status = 0;
while (!m_exitRequested && status >= 0) {
// Set up the device
if (!f_dev) {
if (!(numDevices = freenect_num_devices(f_ctx))) {
timeval timeout{1, 0};
status = freenect_process_events_timeout(f_ctx, &timeout);
continue;
}
if (numDevices > 1)
qWarning("WARNING: More than one Kinect detected, using the first available.");
if (freenect_open_device(f_ctx, &f_dev, 0) < 0) {
emit errorStringValue(QStringLiteral("ERROR!\nCould open device. Please restart."));
freenect_shutdown(f_ctx);
return;
}
freenect_set_user(f_dev, this);
freenect_set_led(f_dev,LED_RED);
freenect_set_depth_callback(f_dev, depth_cb);
freenect_set_video_callback(f_dev, video_cb);
// Success.
emit errorStringValue(QString());
}
// Set up the depth stream
if (m_currentDepthStreamEnabled != m_requestedDepthStreamEnabled) {
if (m_requestedDepthStreamEnabled) {
freenect_set_depth_mode(f_dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT));
m_depthBuffer = (uint16_t*)malloc(freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT).bytes);
freenect_set_depth_buffer(f_dev, m_depthBuffer);
freenect_start_depth(f_dev);
} else {
freenect_stop_depth(f_dev);
free(m_depthBuffer);
}
m_currentDepthStreamEnabled = m_requestedDepthStreamEnabled;
}
// Set up the video stream
if (m_currentVideoStream != m_requestedVideoStream) {
freenect_stop_video(f_dev);
// FIXME: Use YUV or BAYER instead.
freenect_video_format videoFormat = m_requestedVideoStream == QQuickFreenectVideoOutput::VideoRGB ? FREENECT_VIDEO_RGB : FREENECT_VIDEO_IR_8BIT;
free(m_videoBack);
free(m_videoMid);
free(m_videoFront);
m_videoBack = (uint8_t*)malloc(freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, videoFormat).bytes);
m_videoMid = (uint8_t*)malloc(freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, videoFormat).bytes);
m_videoFront = (uint8_t*)malloc(freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, videoFormat).bytes);
freenect_set_video_mode(f_dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, videoFormat));
freenect_set_video_buffer(f_dev, m_videoBack);
freenect_start_video(f_dev);
m_currentVideoStream = m_requestedVideoStream;
}
if (m_requestedTiltDegrees != m_currentTiltDegrees) {
freenect_set_tilt_degs(f_dev, m_requestedTiltDegrees);
m_currentTiltDegrees = m_requestedTiltDegrees;
}
double dx, dy, dz;
freenect_update_tilt_state(f_dev);
freenect_get_mks_accel(freenect_get_tilt_state(f_dev), &dx, &dy, &dz);
// Weighted average of value updates over the last 100ms to flatten the noise.
float newVecRatio = std::min(100, (int)accelVectorTimer.elapsed()) / 100.;
accelVectorAccum = accelVectorAccum * (1. - newVecRatio) + QVector3D(dx, dy, dz) * newVecRatio;
accelVectorTimer.restart();
if (accelVectorAccum != emittedAccelVector) {
emit accelVectorValue(accelVectorAccum);
emittedAccelVector = accelVectorAccum;
}
// New accelerometer values seem to be available every ~5ms, make sure we come back to pick them.
timeval timeout{0, 5000};
status = freenect_process_events_timeout(f_ctx, &timeout);
}
if (status < 0) {
emit errorStringValue(QStringLiteral("ERROR!\nCould not read from device."));
freenect_shutdown(f_ctx);
return;
}
if (f_dev) {
freenect_stop_depth(f_dev);
freenect_stop_video(f_dev);
freenect_set_led(f_dev, LED_BLINK_GREEN);
freenect_close_device(f_dev);
}
freenect_shutdown(f_ctx);
free(m_videoBack);
free(m_videoMid);
free(m_videoFront);
free(m_depthBuffer);
}
void QQuickFreenectBackend::depth_cb(freenect_device *dev, void *buffer, uint32_t timestamp)
{
Q_UNUSED(buffer)
Q_UNUSED(timestamp)
QQuickFreenectBackend *that = static_cast<QQuickFreenectBackend *>(freenect_get_user(dev));
++that->m_depthFrameId;
emit that->depthFrameReady();
}
void QQuickFreenectBackend::video_cb(freenect_device *dev, void *buffer, uint32_t timestamp)
{
Q_UNUSED(buffer)
Q_UNUSED(timestamp)
QQuickFreenectBackend *that = static_cast<QQuickFreenectBackend *>(freenect_get_user(dev));
{
QMutexLocker lock(&that->m_mutex);
Q_ASSERT(that->m_videoBack == buffer);
freenect_set_video_buffer(dev, that->m_videoMid);
std::swap(that->m_videoBack, that->m_videoMid);
// Don't notify if a stream change was requested
if (that->m_currentVideoStream == that->m_requestedVideoStream) {
that->m_gotVideoFrame = true;
emit that->videoFrameReady();
}
}
}
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