Merge branch 'master' of github.com:ofTheo/ofxKinect into feature-til…

…troll

Conflicts:
	src/ofxKinect.h

README.markdown

@@ -69,7 +69,7 @@ Xcode4: Open the Xcode project, select the "ofxKinectExample" scheme, and hit "R
 
 Install the libusb-1.0 library. On Ubuntu, you can do this with:
 <pre>
-sudo apt-get install libusb1.0-0-dev
+sudo apt-get install libusb-1.0-0-dev
 </pre>
 
 Open the Code::Blocks .cbp and hit F9 to build. Optionally, you can build the example with the Makefile.
@@ -99,6 +99,8 @@ libs/libusb/win/inf
 
 You may need to manually update each driver individually if you've plugged it in before. ofxKinect will not work if the drivers are not installed.
 
+**NOTE**: You cannot use the OpenNI drivers and the libfreenect drivers included with ofxKinect at the same time. You must manually uninstall one and reinstall the other in the Device Manager. Sorry, that's just how it is. :P 
+
 How to Create a New ofxKinect Project
 -----------------------------------------
 

example/src/testApp.cpp

@@ -5,7 +5,7 @@
 void testApp::setup() {
 	ofSetLogLevel(OF_LOG_VERBOSE);
 
-    // enable depth->rgb image calibration
+	// enable depth->video image calibration
 	kinect.setRegistration(true);
 
 	kinect.init();

example/src/testApp.h

@@ -17,7 +17,7 @@ class testApp : public ofBaseApp {
 
 	void drawPointCloud();
 
-	void keyPressed (int key);
+	void keyPressed(int key);
 	void mouseDragged(int x, int y, int button);
 	void mousePressed(int x, int y, int button);
 	void mouseReleased(int x, int y, int button);
@@ -45,6 +45,6 @@ class testApp : public ofBaseApp {
 
 	int angle;
 
-    // used for viewing the point cloud
+	// used for viewing the point cloud
 	ofEasyCam easyCam;
 };

src/ofxKinect.cpp

@@ -52,6 +52,9 @@ ofxKinect::ofxKinect() {
 	bNeedsUpdate = false;
 	bUpdateTex = false;
 	bIsFrameNew = false;
+
+	bIsVideoInfrared = false;
+	videoBytesPerPixel = 3;
 
 	kinectDevice = NULL;
 
@@ -80,20 +83,31 @@ bool ofxKinect::init(bool infrared, bool video, bool texture) {
 
 	clear();
 
-	bInfrared = infrared;
+	bIsVideoInfrared = infrared;
 	bGrabVideo = video;
-	bytespp = infrared?1:3;
+	videoBytesPerPixel = infrared?1:3;
 
 	bUseTexture = texture;
 
-	depthPixelsRaw.allocate(width,height,1);
-	depthPixelsBack.allocate(width,height,1);
+	// allocate
+	depthPixelsRaw.allocate(width, height, 1);
+	depthPixelsRawBack.allocate(width, height, 1);
+
+	videoPixels.allocate(width, height, videoBytesPerPixel);
+	videoPixelsBack.allocate(width, height, videoBytesPerPixel);
+
+	depthPixels.allocate(width, height, 1);
+	distancePixels.allocate(width, height, 1);
+
+	 // set
+	depthPixelsRaw.set(0);
+	depthPixelsRawBack.set(0);
 
-	videoPixels.allocate(width,height,bytespp);
-	videoPixelsBack.allocate(width,height,bytespp);
+	videoPixels.set(0);
+	videoPixelsBack.set(0);
 
-	depthPixels.allocate(width,height,1);
-	distancePixels.allocate(width,height,1);
+	depthPixels.set(0);    
+	distancePixels.set(0);
 
 	if(bUseTexture) {
 		depthTex.allocate(width, height, GL_LUMINANCE);
@@ -126,7 +140,7 @@ void ofxKinect::clear() {
 	}
 
 	depthPixelsRaw.clear();
-	depthPixelsBack.clear();
+	depthPixelsRawBack.clear();
 
 	videoPixels.clear();
 	videoPixelsBack.clear();
@@ -163,7 +177,7 @@ bool ofxKinect::open(int id){
 
 	freenect_set_user(kinectDevice, this);
 	freenect_set_depth_callback(kinectDevice, &grabDepthFrame);
-	freenect_set_video_callback(kinectDevice, &grabRgbFrame);
+	freenect_set_video_callback(kinectDevice, &grabVideoFrame);
 
 	startThread(true, false); // blocking, not verbose
 
@@ -212,7 +226,7 @@ void ofxKinect::update() {
 	if(this->lock()) {
 		int n = width * height;
 
-		depthPixelsRaw = depthPixelsBack;
+		depthPixelsRaw = depthPixelsRawBack;
 		videoPixels = videoPixelsBack;
 
 		//we have done the update
@@ -224,8 +238,8 @@ void ofxKinect::update() {
 	}
 
 	if(bUseTexture) {
-		depthTex.loadData(depthPixels);
-		videoTex.loadData(videoPixels);
+		depthTex.loadData(depthPixels.getPixels(), width, height, GL_LUMINANCE);
+		videoTex.loadData(videoPixels.getPixels(), width, height, bIsVideoInfrared?GL_LUMINANCE:GL_RGB);
 		bUpdateTex = false;
 	}
 }
@@ -254,11 +268,11 @@ ofVec3f ofxKinect::getWorldCoordinateAt(float cx, float cy, float wz) {
 
 //------------------------------------
 ofColor ofxKinect::getColorAt(int x, int y) {
-	int index = (y * width + x) * bytespp;
+	int index = (y * width + x) * videoBytesPerPixel;
 	ofColor c;
 	c.r = videoPixels[index + 0];
-	c.g = videoPixels[index + (bytespp-1)/2];
-	c.b = videoPixels[index + (bytespp-1)];
+	c.g = videoPixels[index + (videoBytesPerPixel-1)/2];
+	c.b = videoPixels[index + (videoBytesPerPixel-1)];
 	c.a = 255;
 
 	return c;
@@ -512,51 +526,36 @@ void ofxKinect::grabDepthFrame(freenect_device *dev, void *depth, uint32_t times
 
 	ofxKinect* kinect = kinectContext.getKinect(dev);
 
-	if(kinect->kinectDevice == dev && kinect->lock()) {
-		try {
-			freenect_frame_mode curMode = freenect_get_current_depth_mode(dev);
-			kinect->depthPixelsBack.setFromPixels((unsigned short*)depth,width, height, 1);
-			kinect->bNeedsUpdate = true;
-		}
-		catch(...) {
-			ofLog(OF_LOG_ERROR, "ofxKinect: Depth memcpy failed for device %d", kinect->getDeviceId());
-		}
+	if(kinect->kinectDevice == dev) {
+		kinect->lock();
+		freenect_frame_mode curMode = freenect_get_current_depth_mode(dev);
+		kinect->depthPixelsRawBack.setFromPixels((unsigned short*) depth, width, height, 1);
+		kinect->bNeedsUpdate = true;
 		kinect->unlock();
-	}
-	else {
-		ofLog(OF_LOG_WARNING, "ofxKinect: grabDepthFrame unable to lock mutex");
-	}
+    }
 }
 
 //---------------------------------------------------------------------------
-void ofxKinect::grabRgbFrame(freenect_device *dev, void *rgb, uint32_t timestamp) {
+void ofxKinect::grabVideoFrame(freenect_device *dev, void *video, uint32_t timestamp) {
 
 	ofxKinect* kinect = kinectContext.getKinect(dev);
 
-	if(kinect->kinectDevice == dev && kinect->lock()) {
-		try {
-			freenect_frame_mode curMode = freenect_get_current_video_mode(dev);
-			kinect->videoPixelsBack.setFromPixels((unsigned char*)rgb, width, height, curMode.data_bits_per_pixel/8);
-			kinect->bNeedsUpdate = true;
-		}
-		catch (...) {
-			ofLog(OF_LOG_ERROR, "ofxKinect: Rgb memcpy failed for device %d",
-                kinect->getDeviceId());
-		}
+	if(kinect->kinectDevice == dev) {
+		kinect->lock();
+		freenect_frame_mode curMode = freenect_get_current_video_mode(dev);
+		kinect->videoPixelsBack.setFromPixels((unsigned char*)video, width, height, curMode.data_bits_per_pixel/8);
+		kinect->bNeedsUpdate = true;
 		kinect->unlock();
 	}
-	else {
-		ofLog(OF_LOG_ERROR, "ofxKinect: grabRgbFrame unable to lock mutex");
-	}
 }
 
 //---------------------------------------------------------------------------
 void ofxKinect::threadedFunction(){
 
 	freenect_set_led(kinectDevice, LED_GREEN);
-	freenect_frame_mode videoMode = freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, bInfrared ? FREENECT_VIDEO_IR_8BIT : FREENECT_VIDEO_RGB);
+	freenect_frame_mode videoMode = freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, bIsVideoInfrared?FREENECT_VIDEO_IR_8BIT:FREENECT_VIDEO_RGB);
 	freenect_set_video_mode(kinectDevice, videoMode);
-	freenect_frame_mode depthMode = freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, bUseRegistration ? FREENECT_DEPTH_REGISTERED : FREENECT_DEPTH_MM);
+	freenect_frame_mode depthMode = freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, bUseRegistration?FREENECT_DEPTH_REGISTERED:FREENECT_DEPTH_MM);
 	freenect_set_depth_mode(kinectDevice, depthMode);
 
 	ofLog(OF_LOG_VERBOSE, "ofxKinect: Device %d connection opened", kinectContext.getId(*this));
@@ -589,7 +588,7 @@ void ofxKinect::threadedFunction(){
 		freenect_get_mks_accel(tilt, &dx, &dy, &dz);
 		mksAccel.set(dx, dy, dz);
 
-        // ... and $0.02 for the scheduler
+		// ... and $0.02 for the scheduler
 		ofSleepMillis(10);
 	}