TCKinectController.h

//
//  TCKinectDepthController.h
//  Ocunect2
//
//  Created by Joachim Bengtsson on 2013-10-20.
//  Copyright (c) 2013 nevyn. All rights reserved.
//

#import <Foundation/Foundation.h>

static const int TCKinectVideoWidth = 640, TCKinectVideoHeight = 480, TCKinectVideoDepth = 3;

@interface TCKinectController : NSObject
@property(nonatomic,readonly) NSArray *depthValues;
@property(nonatomic,readonly) NSData *colorData;
@end

TCKinectController.m

//
//  TCKinectDepthController.m
//  Ocunect2
//
//  Created by Joachim Bengtsson on 2013-10-20.
//  Copyright (c) 2013 nevyn. All rights reserved.
//

#import "TCKinectController.h"
#import <libfreenect.h>

@interface TCKinectController ()
{
    freenect_context *_freenect;
    freenect_device *_device;
    uint8_t *_depthBuffer;
    uint8_t *_rgbBuffer;
    volatile BOOL _die;
    volatile BOOL _dead;
}
@property(nonatomic,readwrite) NSArray *depthValues;
@property(nonatomic,readwrite) NSData *colorData;
@end

@implementation TCKinectController
- (id)init
{
    if(!(self = [super init]))
        return nil;
	if (freenect_init(&_freenect, NULL) < 0) {
		NSLog(@"freenect_init() failed");
        _freenect = NULL;
		return nil;
	}
    
	freenect_select_subdevices(_freenect, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
    
	int nr_devices = freenect_num_devices (_freenect);
    if(nr_devices == 0) {
        NSLog(@"No Kinects found");
        freenect_shutdown(_freenect);
        _freenect = NULL;
        return nil;
    }
    
	if (freenect_open_device(_freenect, &_device, 0) < 0) {
		NSLog(@"Could not open freenect device");
		freenect_shutdown(_freenect);
        _freenect = NULL;
		return nil;
	}
    
    [self performSelectorInBackground:@selector(_main) withObject:nil];
    
    return self;
}

void depth_cb(freenect_device *dev, void *v_depth, uint32_t timestamp)
{
    TCKinectController *self = (__bridge id)freenect_get_user(dev);
    
	uint16_t *depth = (uint16_t*)v_depth;

    NSMutableArray *depthValues = [[NSMutableArray alloc] initWithCapacity:TCKinectVideoWidth*TCKinectVideoHeight];
    for(int y = 0; y < TCKinectVideoHeight; y++) {
        for(int x = 0; x < TCKinectVideoWidth; x++) {
            int16_t value = depth[y*TCKinectVideoWidth + x];
            [depthValues addObject:@(value)];
        }
    }
    dispatch_sync(dispatch_get_main_queue(), ^{
        self.depthValues = depthValues;
    });
}
void rgb_cb(freenect_device *dev, void *rgb, uint32_t timestamp)
{
    TCKinectController *self = (__bridge id)freenect_get_user(dev);
    NSData *colorData = [NSData dataWithBytes:rgb length:TCKinectVideoWidth*TCKinectVideoHeight*TCKinectVideoDepth];
    dispatch_sync(dispatch_get_main_queue(), ^{
        self.colorData = colorData;
    });
}

// On its own thread
- (void)_main
{
	_depthBuffer = (uint8_t*)malloc(TCKinectVideoWidth*TCKinectVideoHeight*TCKinectVideoDepth);
	_rgbBuffer = (uint8_t*)malloc(TCKinectVideoWidth*TCKinectVideoHeight*TCKinectVideoDepth);
    
    freenect_set_user(_device, (__bridge void*)self);
    freenect_set_depth_callback(_device, depth_cb);
	freenect_set_video_callback(_device, rgb_cb);
	freenect_set_video_mode(_device, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB));
	freenect_set_depth_mode(_device, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_REGISTERED));
    freenect_set_depth_buffer(_device, _depthBuffer);
	freenect_set_video_buffer(_device, _rgbBuffer);

	freenect_start_depth(_device);
	freenect_start_video(_device);
    
    while (!_die && freenect_process_events(_freenect) >= 0) {
    }
    
	printf("\nshutting down streams...\n");
	freenect_stop_depth(_device);
	freenect_stop_video(_device);

	freenect_close_device(_device);
	freenect_shutdown(_freenect);
    
    free(_depthBuffer);
    free(_rgbBuffer);
}

- (void)dealloc
{
    if(_freenect) {
        _die = YES;
        while(!_dead) {}
        freenect_shutdown(_freenect);
        _freenect = NULL;
    }
}
@end