bug and stability fixes
This commit is contained in:
Kazik Pogoda
@@ -1,64 +1,44 @@
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package org.openrndr.extra.kinect
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import org.openrndr.Extension
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import org.openrndr.Program
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import org.openrndr.draw.*
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import org.openrndr.math.Vector2
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import org.openrndr.resourceUrl
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import java.lang.RuntimeException
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import java.nio.ByteBuffer
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import java.util.concurrent.atomic.AtomicReference
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import kotlin.concurrent.thread
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interface Kinects {
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/**
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* Represents all the accessible kinects handled by a specific driver (V1, V2).
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*
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* @param <CTX> data needed to make low level kinect support calls.
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*/
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interface Kinects<CTX> {
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fun countDevices(): Int
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/**
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* Starts kinect device of a given number.
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*
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* @throws KinectException if device of such a number does not exist.
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* @throws KinectException if device of such a number does not exist,
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* better to count them first.
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* @see countDevices
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*/
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fun startDevice(num: Int = 0): KinectDevice
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fun startDevice(num: Int = 0): KinectDevice<CTX>
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/**
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* Executes low level Kinect commands in the kinect thread.
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*/
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fun execute(commands: (CTX) -> Any) : Any
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}
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class DefaultKinects(private val manager: KinectsManager) : Kinects {
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init {
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manager.init()
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// as we don't have explicit shutdown mechanism in OPENRNDR
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// we need to install a shutdown hook for now
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Runtime.getRuntime().addShutdownHook(
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thread(
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name = "${manager.javaClass.simpleName}-closer",
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start = false,
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isDaemon = false
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) {
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manager.shutdown()
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}
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)
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}
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override fun countDevices(): Int {
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return manager.countDevices()
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}
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override fun startDevice(num: Int): KinectDevice {
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return manager.startDevice(num)
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}
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}
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/**
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* Represents specific device.
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*
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* @param <CTX> data needed to make low level kinect support calls.
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*/
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interface KinectDevice<CTX> : Extension {
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val depthCamera: KinectDepthCamera
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interface KinectsManager {
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fun init()
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fun countDevices(): Int
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fun startDevice(num: Int): KinectDevice
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fun shutdown()
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}
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abstract class KinectDevice : Extension {
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override var enabled: Boolean = true
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abstract val depthCamera: KinectDepthCamera
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override fun beforeDraw(drawer: Drawer, program: Program) {
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if (depthCamera.enabled) {
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depthCamera.update()
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}
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}
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/**
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* Executes low level Kinect commands in the kinect thread in the context of this device.
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*/
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fun execute(commands: (CTX) -> Any): Any
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}
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interface KinectCamera {
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@@ -68,58 +48,10 @@ interface KinectCamera {
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var mirror: Boolean
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val currentFrame: ColorBuffer
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fun getLatestFrame(): ColorBuffer?
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fun update()
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}
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interface KinectDepthCamera : KinectCamera {
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val depthScale: Double
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}
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abstract class AbstractKinectDepthCamera(
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final override val width: Int,
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final override val height: Int,
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final override val depthScale: Double
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) : KinectDepthCamera {
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protected val byteBufferRef: AtomicReference<ByteBuffer> = AtomicReference()
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private val rawBuffer: ColorBuffer = colorBuffer(
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width,
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height,
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format = ColorFormat.R,
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type = ColorType.UINT16 // it would be perfect if we could use isampler in the shader
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)
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override val currentFrame: ColorBuffer = colorBuffer(
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width,
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height,
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format = ColorFormat.R,
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type = ColorType.FLOAT16 // in the future we might want to choose the precision here
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)
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private val depthMapper = KinectRawDataToDepthMapper()
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init {
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depthMapper.depthScale = depthScale
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depthMapper.mirror = false
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depthMapper.resolution = Vector2(width.toDouble(), height.toDouble())
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}
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private val newFrameRef = AtomicReference<ColorBuffer>()
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override fun getLatestFrame(): ColorBuffer? {
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return newFrameRef.getAndSet(null)
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}
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override fun update() {
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byteBufferRef.getAndSet(null)?.let { bytes ->
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rawBuffer.write(bytes)
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depthMapper.apply(rawBuffer, currentFrame)
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newFrameRef.set(currentFrame)
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}
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}
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override var mirror: Boolean
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get() = depthMapper.mirror
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set(value) { depthMapper.mirror = value }
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}
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class KinectRawDataToDepthMapper :
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Filter(filterShaderFromUrl(resourceUrl("kinect-raw-to-depth.frag", Kinects::class.java))) {
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var depthScale: Double by parameters
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var mirror: Boolean by parameters
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var resolution: Vector2 by parameters
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/* no special attributes at the moment */
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}
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class KinectException(msg: String) : RuntimeException(msg)
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139
orx-kinect-common/src/main/kotlin/KinectImpl.kt
Normal file
139
orx-kinect-common/src/main/kotlin/KinectImpl.kt
Normal file
@@ -0,0 +1,139 @@
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package org.openrndr.extra.kinect
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import org.openrndr.Program
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import org.openrndr.draw.*
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import org.openrndr.math.Vector2
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import org.openrndr.resourceUrl
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import java.nio.ByteBuffer
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import java.util.concurrent.atomic.AtomicReference
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import java.util.function.Supplier
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import kotlin.concurrent.thread
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class DefaultKinects<CTX>(private val manager: KinectsManager<CTX>) : Kinects<CTX> {
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init {
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manager.initialize()
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// as we don't have explicit shutdown mechanism in OPENRNDR
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// we need to install a shutdown hook for now
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Runtime.getRuntime().addShutdownHook(
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thread(
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name = "${manager.javaClass.simpleName}-closer",
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start = false,
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isDaemon = false
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) {
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manager.shutdown()
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}
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)
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}
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override fun countDevices(): Int {
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return manager.countDevices()
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}
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override fun startDevice(num: Int): KinectDevice<CTX> {
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return manager.startDevice(num)
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}
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override fun execute(commands: (CTX) -> Any): Any {
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return manager.execute(commands)
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}
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}
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interface KinectsManager<CTX> {
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fun initialize()
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fun countDevices(): Int
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fun startDevice(num: Int): KinectDevice<CTX>
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fun execute(commands: (CTX) -> Any): Any
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fun shutdown()
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}
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interface KinectFeatureEnabler {
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var enabled: Boolean
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}
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interface KinectCommandsExecutor<CTX> {
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fun execute(commands: (CTX) -> Any): Any
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}
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class DefaultKinectDevice<CTX>(
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override val depthCamera: DefaultKinectDepthCamera,
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private val commandsExecutor: KinectCommandsExecutor<CTX>
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) : KinectDevice<CTX> {
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override var enabled: Boolean = true
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override fun beforeDraw(drawer: Drawer, program: Program) {
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depthCamera.update()
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}
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override fun execute(commands: (CTX) -> Any): Any {
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return commandsExecutor.execute(commands)
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}
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}
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class DefaultKinectDepthCamera(
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override val width: Int,
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override val height: Int,
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depthScale: Double,
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private val enabler: KinectFeatureEnabler,
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private val bytesSupplier: Supplier<ByteBuffer?>
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) :
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KinectDepthCamera, UpdatableKinectCamera {
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override var enabled: Boolean
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get() = enabler.enabled
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set(value) {
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enabler.enabled = value
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}
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private val rawBuffer: ColorBuffer = colorBuffer(
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width,
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height,
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format = ColorFormat.R,
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type = ColorType.UINT16 // it would be perfect if we could use isampler in the shader
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)
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override val currentFrame: ColorBuffer = colorBuffer(
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width,
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height,
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format = ColorFormat.R,
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type = ColorType.FLOAT16 // in the future we might want to choose the precision here
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)
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private val depthMapper = KinectRawDataToDepthMapper()
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init {
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depthMapper.depthScale = depthScale
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depthMapper.mirror = false
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depthMapper.resolution = Vector2(width.toDouble(), height.toDouble())
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}
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private val newFrameRef = AtomicReference<ColorBuffer>()
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override fun getLatestFrame(): ColorBuffer? {
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return newFrameRef.getAndSet(null)
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}
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override fun update() {
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if (enabled) {
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bytesSupplier.get()?.let { bytes ->
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rawBuffer.write(bytes)
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depthMapper.apply(rawBuffer, currentFrame)
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newFrameRef.set(currentFrame)
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}
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}
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}
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override var mirror: Boolean
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get() = depthMapper.mirror
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set(value) { depthMapper.mirror = value }
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}
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private class KinectRawDataToDepthMapper :
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Filter(filterShaderFromUrl(resourceUrl("kinect-raw-to-depth.frag", Kinects::class.java))) {
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var depthScale: Double by parameters
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var mirror: Boolean by parameters
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var resolution: Vector2 by parameters
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}
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private interface UpdatableKinectCamera {
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fun update()
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}
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