Step 1: Create the Main Program
Write the Program Create a C file, main.c, that streams Kinect video via v4l2loopback. Use the code provided below.
Save it as main.c.
Compile the Program Use GCC to compile the program:
terminal
gcc main.c -o kinect_to_v4l2 -lfreenect -lpthread -lm
Step 2: Set Up Virtual Loopback
Install v4l2loopback Install the v4l2loopback kernel module:
terminal
sudo apt update
sudo apt install v4l2loopback-dkms v4l-utils
Load the Module Create a virtual video device:
terminal
sudo modprobe v4l2loopback video_nr=2 exclusive_caps=1 max_buffers=2
Verify the Device Check if the virtual device is available:
terminal
ls /dev/video*
Step 3: Run the Kinect Stream
Run the Program Start the Kinect streaming program:
terminal
./kinect_to_v4l2
Verify the Stream Use ffplay to check the output:
terminal
ffplay /dev/video2
Step 4: Install and Configure Motion
Install Motion Install the Motion service:
terminal
sudo apt install motion
Configure Motion Edit the Motion configuration file:
terminal
sudo nano /etc/motion/motion.conf
Set the following parameters:
conf
videodevice /dev/video2 # Use the Kinect stream
width 640
height 480
framerate 15
stream_port 8081 # Enable streaming on port 8081
stream_localhost off # Allow external access
stream_maxrate 15
Save and exit.
Enable and Start Motion Enable and start the Motion service:
terminal
sudo systemctl enable motion
sudo systemctl start motion
Test the Stream Open a browser and go to:
browser
http://:8081/
NOTE dev/video* will need to match in all your setup(main.c and motion), change it to match the virtual dev/video created
Step 5: Integrate with Home Assistant
Edit Home Assistant Add the Kinect stream:
yaml
camera:
- platform: generic
name: Kinect Camera
still_image_url: http://<server-ip>:8081/stream.jpg
stream_source: http://<server-ip>:8081
verify_ssl: false
main.c
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <unistd.h>
#include <fcntl.h>
#include "libfreenect.h"
#include <pthread.h>
pthread_mutex_t gl_backbuf_mutex = PTHREAD_MUTEX_INITIALIZER;
pthread_t freenect_thread;
volatile int die = 0;
uint8_t *rgb_back, *rgb_mid, *rgb_front;
freenect_context *f_ctx;
freenect_device *f_dev;
freenect_video_format current_format = FREENECT_VIDEO_RGB;
int pipe_fd[2];
void rgb_cb(freenect_device *dev, void *rgb, uint32_t timestamp) {
pthread_mutex_lock(&gl_backbuf_mutex);
// Swap buffers
assert(rgb_back == rgb);
rgb_back = rgb_mid;
freenect_set_video_buffer(dev, rgb_back);
rgb_mid = (uint8_t*)rgb;
// Write RGB data to the pipe for ffmpeg
if (pipe_fd[1] != -1) {
write(pipe_fd[1], rgb_mid, 640 * 480 * 3); // RGB24 format
}
pthread_mutex_unlock(&gl_backbuf_mutex);
}
void *freenect_threadfunc(void *arg) {
freenect_set_video_callback(f_dev, rgb_cb);
freenect_set_video_mode(f_dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, current_format));
freenect_set_video_buffer(f_dev, rgb_back);
freenect_start_video(f_dev);
while (!die && freenect_process_events(f_ctx) >= 0);
freenect_stop_video(f_dev);
freenect_close_device(f_dev);
freenect_shutdown(f_ctx);
return NULL;
}
int main(int argc, char **argv) {
int res;
rgb_back = (uint8_t*)malloc(640 * 480 * 3);
rgb_mid = (uint8_t*)malloc(640 * 480 * 3);
if (freenect_init(&f_ctx, NULL) < 0) {
fprintf(stderr, "freenect_init() failed\n");
return 1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
freenect_select_subdevices(f_ctx, FREENECT_DEVICE_CAMERA);
if (freenect_open_device(f_ctx, &f_dev, 0) < 0) {
fprintf(stderr, "Could not open device\n");
freenect_shutdown(f_ctx);
return 1;
}
// Create a pipe for inter-process communication
if (pipe(pipe_fd) == -1) {
perror("pipe");
return 1;
}
// Fork a process to run ffmpeg
pid_t pid = fork();
if (pid == 0) {
// Child process: Run ffmpeg
close(pipe_fd[1]); // Close write end
dup2(pipe_fd[0], STDIN_FILENO); // Redirect stdin to read end of pipe
execlp("ffmpeg", "ffmpeg",
"-f", "rawvideo",
"-pixel_format", "rgb24",
"-video_size", "640x480",
"-framerate", "30",
"-i", "-",
"-f", "v4l2",
"-pix_fmt", "yuv420p",
"/dev/video2",
NULL);
perror("execlp");
exit(1);
}
close(pipe_fd[0]); // Close read end in the parent process
res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
if (res) {
fprintf(stderr, "pthread_create failed\n");
freenect_shutdown(f_ctx);
return 1;
}
pthread_join(freenect_thread, NULL);
// Clean up
free(rgb_back);
free(rgb_mid);
close(pipe_fd[1]); // Close write end
return 0;
}
thanks for you’re interest and let me know if you have issues or need help understanding my instructions
