Async.fi

KinectVision.com code

This is old, from December 2010 it seems, but it's here in case the machine goes titsup. Quick, dirty and ugly but it works most of the time. First, the capture program:

#include <libusb-1.0/libusb.h>
#include "libfreenect.h"
#include "libfreenect_sync.h"
#include <stdio.h>
#include <stdlib.h>

/*
  No error checking performed whatsoever; dealing with it later (or not).
 */
int main(int argc, char** argv)
{
  uint16_t * depth = (uint16_t *)malloc(FREENECT_DEPTH_11BIT_SIZE);
  uint32_t timestamp;
  int index = 0;
  freenect_depth_format fmt = FREENECT_DEPTH_11BIT;

  uint8_t * depth8 = (uint8_t *)malloc(FREENECT_FRAME_PIX);
  int i;

  /* Capture one Kinect depth frame */
  freenect_sync_get_depth(&depth, &timestamp, index, fmt);

  /* Convert captured frame to an 8-bit greyscale image */
  for(i = 0; i < FREENECT_FRAME_PIX; i++) {
    depth8[i] = (2048 * 256) / (2048.0 - depth[i]);
  }

  /* Write raw greyscale image to stdout  */
  fwrite(depth8, FREENECT_FRAME_PIX, 1, stdout);

  return 0;
}

Makefile:

all:		capkinect

clean:
		rm -f capkinect.o capkinect

capkinect.o:	capkinect.c
	gcc -g -I/usr/local/include/libfreenect/ -c capkinect.c -o capkinect.o

capkinect:	capkinect.o
	gcc -g capkinect.o -L/usr/local/lib/ -lfreenect_sync -o capkinect

Uploader:

#!/bin/sh

INPUT=`mktemp`
AVG=`mktemp`
TEMP=`mktemp`
OUTPUT=`mktemp --directory`

#COLORMAP="black-#45931c"
COLORMAP="black-white"

# initial average frame
capkinect | rawtopgm 640 480 | pnmcut 8 8 624 464 | pgmtoppm $COLORMAP >$AVG

while [ true ]; do

    #echo "input: $INPUT avg: $AVG temp: $TEMP output: $OUTPUT colormap: $COLORMAP"

    capkinect | rawtopgm 640 480 | pnmcut 8 8 624 464 | pgmtoppm $COLORMAP >$INPUT

    FILENAME=$OUTPUT/`date +%s.%N`

    ppmmix 0.035 $AVG $INPUT >$FILENAME.ppm

    cp $FILENAME.ppm $AVG

    cat $FILENAME.ppm | cjpeg -greyscale -quality 65 >$FILENAME.jpg

    echo "user=XXXX:AAAA" | curl --digest -K - -F "file=@$FILENAME.jpg" http://kinectvision.com/depth

    rm $FILENAME.ppm $FILENAME.jpg

    sleep 1

done

Server end script that inputs and outputs frames:

$latest_path = $_SERVER["DOCUMENT_ROOT"] . "/incoming/latest";

if($_SERVER["REQUEST_METHOD"] == "POST") {

  if(!isset($_FILES["file"]["name"])) {
    exit();
  }
  if(move_uploaded_file($_FILES["file"]["tmp_name"], $_SERVER["DOCUMENT_ROOT"] . "/incoming/" . $_FILES["file"]["name"])) {
    file_put_contents($latest_path, $_FILES["file"]["name"]);
  }

} elseif($_SERVER["REQUEST_METHOD"] == "HEAD") {

  $latest = file_get_contents($latest_path);
  header("X-KinectVision-Latest: " . $latest);

} elseif($_SERVER["REQUEST_METHOD"] == "GET") {

  $latest = $_SERVER["DOCUMENT_ROOT"] . "/incoming/" . file_get_contents($latest_path);
  header("Content-Type: image/jpeg");
  header("X-KinectVision-Latest: " . $latest);

  if(isset($_GET["width"]) && intval($_GET["width"]) < 624) {
    $width = intval($_GET["width"]);
    $f = popen("djpeg -pnm -fast -greyscale $latest | pnmscalefixed -width=$width | cjpeg -greyscale -quality 65", "r");
    while(!feof($f)) {
      echo fread($f, 1024);
    }
    fclose($f);
  } else {
    echo file_get_contents($latest);
  }

}

(Don't know if it's the Suffusion theme or what that kill all the newlines from these listings. They're there, I can assure you, they're just not visible.)

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