| 9 | import java.nio.ShortBuffer |
| 10 | |
| 11 | |
| 12 | class KinectDriver { |
| 13 | |
| 14 | |
| 15 | companion object { |
| 16 | @JvmField |
| 17 | var texture: Texture? = null |
| 18 | @JvmField |
| 19 | var floatFrame: FloatBuffer? = null |
| 20 | |
| 21 | @JvmField |
| 22 | var dev: Device |
| 23 | |
| 24 | @JvmField |
| 25 | var ctx: Context = Freenect.createContext() |
| 26 | |
| 27 | var currentFrame: ByteBuffer? = null |
| 28 | var shortFrame: ShortBuffer? = null |
| 29 | |
| 30 | var width: Int = -1 |
| 31 | var height: Int = -1 |
| 32 | |
| 33 | |
| 34 | var lock = Object() |
| 35 | |
| 36 | init { |
| 37 | ctx.setLogHandler { dev, level, info -> |
| 38 | println("** $dev | $level `$info`") |
| 39 | } |
| 40 | ctx.setLogLevel(LogLevel.SPEW) |
| 41 | |
| 42 | if (ctx.numDevices() > 0) { |
| 43 | dev = ctx.openDevice(0) |
| 44 | |
| 45 | dev.setDepthFormat(DepthFormat.D11BIT) |
| 46 | } else { |
| 47 | throw IllegalArgumentException(" couldn't find a Kinect") |
| 48 | } |
| 49 | |
| 50 | dev.startDepth(object : DepthHandler { |
| 51 | internal var frameCount = 0 |
| 52 | |
| 53 | override fun onFrameReceived(mode: FrameMode?, frame: ByteBuffer?, timestamp: Int) { |
| 54 | if (frame == null) { |
| 55 | System.err.println(" -- received null frame, continuing on") |
| 56 | return |
| 57 | } |
| 58 | // println(" -- frame received, mode${mode?.depthFormat} / ${mode?.width} x ${mode?.height}") |
| 59 | if (currentFrame == null) { |
| 60 | currentFrame = ByteBuffer.allocate(frame.capacity()).order(ByteOrder.nativeOrder()) |
| 61 | shortFrame = currentFrame!!.asShortBuffer() |
| 62 | |
| 63 | val floatFrame_b = ByteBuffer.allocateDirect(shortFrame!!.capacity() * 4).order(ByteOrder.nativeOrder()) |
| 64 | floatFrame = floatFrame_b.asFloatBuffer() |
| 65 | |
| 66 | texture = Texture(Texture.TextureSpecification.float1(3, mode!!.width.toInt(), mode!!.height.toInt(), floatFrame_b)) |
| 67 | } |
| 68 | synchronized(lock) |