001/**
002 * Copyright (c) 2011, The University of Southampton and the individual contributors.
003 * All rights reserved.
004 *
005 * Redistribution and use in source and binary forms, with or without modification,
006 * are permitted provided that the following conditions are met:
007 *
008 *   *  Redistributions of source code must retain the above copyright notice,
009 *      this list of conditions and the following disclaimer.
010 *
011 *   *  Redistributions in binary form must reproduce the above copyright notice,
012 *      this list of conditions and the following disclaimer in the documentation
013 *      and/or other materials provided with the distribution.
014 *
015 *   *  Neither the name of the University of Southampton nor the names of its
016 *      contributors may be used to endorse or promote products derived from this
017 *      software without specific prior written permission.
018 *
019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
020 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
021 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
022 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
023 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
024 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
025 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
026 * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
027 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
028 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
029 */
030package org.openimaj.hardware.kinect;
031
032import java.nio.ByteBuffer;
033
034import org.bridj.Pointer;
035import org.openimaj.hardware.kinect.freenect.libfreenectLibrary;
036import org.openimaj.hardware.kinect.freenect.libfreenectLibrary.freenect_device;
037import org.openimaj.hardware.kinect.freenect.libfreenectLibrary.freenect_resolution;
038import org.openimaj.hardware.kinect.freenect.libfreenectLibrary.freenect_video_format;
039import org.openimaj.image.FImage;
040
041/**
042 * Callback for IR data
043 * 
044 * @author Jonathon Hare (jsh2@ecs.soton.ac.uk)
045 * 
046 */
047class IRVideoCallback extends KinectVideoStreamCallback<FImage> {
048        private static final float[] LUT = new float[1024];
049        static {
050                for (int i = 0; i < LUT.length; i++)
051                        LUT[i] = i / (LUT.length - 1f);
052        }
053
054        public IRVideoCallback(KinectStream<FImage> stream) {
055                super(stream);
056                final Pointer<freenect_device> device = stream.controller.device;
057
058                libfreenectLibrary.freenect_set_video_mode_proxy(device, freenect_resolution.FREENECT_RESOLUTION_MEDIUM,
059                                freenect_video_format.FREENECT_VIDEO_IR_10BIT);
060
061                buffer = ByteBuffer.allocateDirect(libfreenectLibrary.freenect_get_video_buffer_size(device));
062                libfreenectLibrary.freenect_set_video_buffer(device, Pointer.pointerToBuffer(buffer));
063
064                nextFrame = new FImage(stream.width, stream.height);
065
066                libfreenectLibrary.freenect_set_video_callback(device, toPointer());
067                libfreenectLibrary.freenect_start_video(device);
068        }
069
070        @Override
071        public void setImage() {
072                final ByteBuffer buf = buffer.duplicate();
073
074                final int width = stream.width;
075                final int height = stream.height;
076
077                final float[][] pix = nextFrame.pixels;
078
079                for (int y = 0; y < height; y++) {
080                        for (int x = 0; x < width; x++) {
081                                final int first = (buf.get() & 0xFF);
082                                final int second = (buf.get() & 0xFF);
083                                pix[y][x] = LUT[first + second * 256];
084                        }
085                }
086        }
087
088        @Override
089        public void stop() {
090                libfreenectLibrary.freenect_stop_video(stream.controller.device);
091        }
092}
093
094/**
095 * The stream of IR information
096 * 
097 * @author Jonathon Hare (jsh2@ecs.soton.ac.uk)
098 * 
099 */
100public class KinectIRVideoStream extends KinectStream<FImage> {
101        /**
102         * Construct with a reference to the controller
103         * 
104         * @param controller
105         *            The controller
106         */
107        public KinectIRVideoStream(KinectController controller) {
108                super(controller);
109
110                fps = 30;
111                width = 640;
112                height = 480;
113                frame = new FImage(width, height);
114
115                callback = new IRVideoCallback(this);
116        }
117}