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Initial kinect compatability
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@avin2
avin2 committed Dec 9, 2010
1 parent 7c57716 commit 75d38d7
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73 changes: 43 additions & 30 deletions Platform/Win32/Build/Engine.sln
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29 changes: 27 additions & 2 deletions README
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@@ -1,6 +1,31 @@
PrimeSensor Modules for OpenNI
SensorKinect Module for OpenNI
------------------------------
Website: www.primesense.com

Kinect Mod:
-----------

It seems that the PrimeSensor and the Kinect are almost 100% identical!

Changes:
1) Added the kinect USB VID/PID to the PSDrv3 driver and to the code.
2) Changed the packet sequence field from 16-bit to 8-bit (don't know why it's different...)
3) Changed the image format from YUV to 8-bit uncompressed bayer in the GlobalDefaults.ini file.
4) Fixed the software depth-to-RGB registration. (Thanks ROS.org for that!)

Notes:
1) The precompiled windows version is inside the BIN directory. Since the driver is not signed, you might have to install it manually.
2) Since I've used VS2010 to build the driver, you will need to have the VS2010 redist installed.
3) Many resolutions/formats are not working yet... For example: The kinect will only agree to output VGA resolution.
4) I don't have a linux machine so I didn't try it, but my guess is that it would work just fine...

PrimeSense NITE algorithim:
If you want to try it please do the following:
1) Install OpenNI (from www.openni.org)
2) Install Sensor (this version...)
3) Install NITE (from www.openni.org)
4) Run the NiViewer sample to make sure depth & image streams are working.
5) Run the NiUserTracker sample play with the skeleton.


Release Notes:
--------------
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35 changes: 28 additions & 7 deletions Source/XnDeviceSensorV2/Registration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -480,17 +480,29 @@ void XnRegistration::Apply1000(XnDepthPixel* pInput, XnDepthPixel* pOutput)
nNewX = (XnInt32)(XnDouble(*pRegTable)/XN_REG_X_SCALE + XnInt32(pDepth2ShiftTable[nValue]/XN_REG_PARAB_COEFF - nConstShift) * dShiftFactor);
nNewY = *(pRegTable+1);

if ((XnUInt32)nNewX-1 < (XnUInt32)nDepthXRes-1)
if ( nNewX < nDepthXRes && nNewY < nDepthYRes )
{
nArrPos = nNewY * nDepthXRes + nNewX;
nOutValue = pOutput[nArrPos];

if (nOutValue == 0 || nOutValue > nValue)
{
if ( nNewX > 0 && nNewY > 0 )
{
pOutput[nArrPos-nDepthXRes] = nValue;
pOutput[nArrPos-nDepthXRes-1] = nValue;
pOutput[nArrPos-1] = nValue;
}
else if( nNewY > 0 )
{
pOutput[nArrPos-nDepthXRes] = nValue;
}
else if( nNewX > 0 )
{
pOutput[nArrPos-1] = nValue;
}

pOutput[nArrPos] = nValue;
pOutput[nArrPos-1] = nValue;
pOutput[nArrPos-nDepthXRes] = nValue;
pOutput[nArrPos-nDepthXRes-1] = nValue;
}
}
}
Expand Down Expand Up @@ -533,7 +545,7 @@ void XnRegistration::Apply1080(XnDepthPixel* pInput, XnDepthPixel* pOutput)
nNewX = (XnUInt32)(*pRegTable + pRGBRegDepthToShiftTable[nValue]) / RGB_REG_X_VAL_SCALE;
nNewY = *(pRegTable+1);

if (nNewX < nDepthXRes)
if (nNewX < nDepthXRes && nNewY < nDepthYRes )
{
nArrPos = bMirror ? (nNewY+1)*nDepthXRes - nNewX - 2 : (nNewY*nDepthXRes) + nNewX;
nArrPos -= nConstOffset;
Expand All @@ -542,12 +554,21 @@ void XnRegistration::Apply1080(XnDepthPixel* pInput, XnDepthPixel* pOutput)

if ((nOutValue == XN_DEVICE_SENSOR_NO_DEPTH_VALUE) || (nOutValue > nValue))
{
if (nArrPos > nDepthXRes+1)
if ( nNewX > 0 && nNewY > 0 )
{
pOutput[nArrPos-nDepthXRes] = nValue;
pOutput[nArrPos-nDepthXRes-1] = nValue;
pOutput[nArrPos-1] = nValue;
}
else if( nNewY > 0 )
{
pOutput[nArrPos-nDepthXRes] = nValue;
}
pOutput[nArrPos-1] = nValue;
else if( nNewX > 0 )
{
pOutput[nArrPos-1] = nValue;
}

pOutput[nArrPos] = nValue;
}
}
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