update libfreenect to fix ofxKinect on raspberry pi (#6123)

Solves the problem explained in https://forum.openframeworks.cc/t/ofxkinect-included-in-of-v0-9-8-on-raspberry-pi-3b-jessie-arm6/28287/5

Fixes #5919

addons/ofxKinect/libs/libfreenect/platform/windows/unistd.h

@@ -35,7 +35,7 @@
 #ifndef _SSIZE_T_DEFINED
 #define _SSIZE_T_DEFINED
 #ifdef _WIN64
-typedef __int64 ssize_t;
+	typedef __int64 ssize_t;
 #else
 	typedef int ssize_t;
 #endif

addons/ofxKinect/libs/libfreenect/src/cameras.c

@@ -397,7 +397,7 @@ static void depth_process(freenect_device *dev, uint8_t *pkt, int len)
 			convert_packed11_to_16bit(dev->depth.raw_buf, (uint16_t*)dev->depth.proc_buf, 640*480);
 			break;
 		case FREENECT_DEPTH_REGISTERED:
-			freenect_apply_registration(dev, dev->depth.raw_buf, (uint16_t*)dev->depth.proc_buf );
+			freenect_apply_registration(dev, dev->depth.raw_buf, (uint16_t*)dev->depth.proc_buf, false);
 			break;
 		case FREENECT_DEPTH_MM:
 			freenect_apply_depth_to_mm(dev, dev->depth.raw_buf, (uint16_t*)dev->depth.proc_buf );

addons/ofxKinect/libs/libfreenect/src/core.c

@@ -47,7 +47,7 @@ FREENECTAPI int freenect_init(freenect_context **ctx, freenect_usb_context *usb_
 
 	memset(*ctx, 0, sizeof(freenect_context));
 
-	(*ctx)->log_level = LL_WARNING;
+	(*ctx)->log_level = LL_NOTICE;
 	(*ctx)->enabled_subdevices = (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA);
 	res = fnusb_init(&(*ctx)->usb, usb_ctx);
 	if (res < 0) {
@@ -101,12 +101,12 @@ FREENECTAPI int freenect_process_events_timeout(freenect_context *ctx, struct ti
 
 FREENECTAPI int freenect_num_devices(freenect_context *ctx)
 {
-	return fnusb_num_devices(&ctx->usb);
+	return fnusb_num_devices(ctx);
 }
 
 FREENECTAPI int freenect_list_device_attributes(freenect_context *ctx, struct freenect_device_attributes **attribute_list)
 {
-	return fnusb_list_device_attributes(&ctx->usb, attribute_list);
+	return fnusb_list_device_attributes(ctx, attribute_list);
 }
 
 FREENECTAPI void freenect_free_device_attributes(struct freenect_device_attributes *attribute_list)
@@ -185,7 +185,7 @@ FREENECTAPI int freenect_open_device_by_camera_serial(freenect_context *ctx, fre
 	// freenect_open_device with that index.
 	struct freenect_device_attributes* attrlist;
 	struct freenect_device_attributes* item;
-	int count = fnusb_list_device_attributes(&ctx->usb, &attrlist);
+	int count = fnusb_list_device_attributes(ctx, &attrlist);
 	if (count < 0) {
 		FN_ERROR("freenect_open_device_by_camera_serial: Couldn't enumerate serial numbers\n");
 		return count;

addons/ofxKinect/libs/libfreenect/src/flags.c

@@ -168,6 +168,7 @@ FN_INTERNAL int send_cmd(freenect_device *dev, uint16_t cmd, void *cmdbuf, unsig
 	do {
 		actual_len = fnusb_control(&dev->usb_cam, 0xc0, 0, 0, 0, ibuf, 0x200);
 		FN_FLOOD("send_cmd: actual length = %d\n", actual_len);
+		usleep(1);
 	} while ((actual_len == 0) || (actual_len == 0x200));
 	FN_SPEW("Control reply: %d\n", res);
 	if (actual_len < (int)sizeof(*rhdr)) {

addons/ofxKinect/libs/libfreenect/src/freenect_internal.h

@@ -139,6 +139,7 @@ static inline int32_t fn_le32s(int32_t s)
 #define PID_NUI_CAMERA 0x02ae
 #define PID_NUI_MOTOR 0x02b0
 #define PID_K4W_CAMERA 0x02bf
+#define PID_KV2_CAMERA 0x02d9 // This identifies the Kinect v2 (XBox One). Use https://github.com/OpenKinect/libfreenect2 instead.
 
 // For K4W: first pid is what it starts out as,
 // second is how it appears with lastest firmware from SDK,

addons/ofxKinect/libs/libfreenect/src/registration.c

@@ -101,7 +101,7 @@ static inline void unpack_8_pixels(uint8_t *raw, uint16_t *frame)
 }
 
 // apply registration data to a single packed frame
-FN_INTERNAL int freenect_apply_registration(freenect_device* dev, uint8_t* input_packed, uint16_t* output_mm)
+FN_INTERNAL int freenect_apply_registration(freenect_device* dev, uint8_t* input, uint16_t* output_mm, bool unpacked)
 {
 	freenect_registration* reg = &(dev->registration);
 	// set output buffer to zero using pointer-sized memory access (~ 30-40% faster than memset)
@@ -116,15 +116,22 @@ FN_INTERNAL int freenect_apply_registration(freenect_device* dev, uint8_t* input
 	for (y = 0; y < DEPTH_Y_RES; y++) {
 		for (x = 0; x < DEPTH_X_RES; x++) {
 
-			// get 8 pixels from the packed frame
-			if (source_index == 8) {
-				unpack_8_pixels( input_packed, unpack );
-				source_index = 0;
-				input_packed += 11;
-			}
+                        uint16_t metric_depth;
 
-			// get the value at the current depth pixel, convert to millimeters
-			uint16_t metric_depth = reg->raw_to_mm_shift[ unpack[source_index++] ];
+                        if (unpacked) {
+                                uint32_t buf_index = y * DEPTH_X_RES + x;
+                                metric_depth = reg->raw_to_mm_shift[((uint16_t *)input)[buf_index]];
+                        } else {
+                                // get 8 pixels from the packed frame
+                                if (source_index == 8) {
+                                        unpack_8_pixels( input, unpack );
+                                        source_index = 0;
+                                        input += 11;
+                                }
+
+                                // get the value at the current depth pixel, convert to millimeters
+                                metric_depth = reg->raw_to_mm_shift[ unpack[source_index++] ];
+                        }
 
 			// so long as the current pixel has a depth value
 			if (metric_depth == DEPTH_NO_MM_VALUE) continue;
@@ -190,6 +197,22 @@ FN_INTERNAL int freenect_apply_depth_to_mm(freenect_device* dev, uint8_t* input_
 	return 0;
 }
 
+// Same as freenect_apply_depth_to_mm, but don't need to unpack 11 bit depth values
+FN_INTERNAL int freenect_apply_depth_unpacked_to_mm(freenect_device* dev, uint16_t* input, uint16_t* output_mm)
+{
+	freenect_registration* reg = &(dev->registration);
+	uint32_t x,y;
+	for (y = 0; y < DEPTH_Y_RES; y++) {
+		for (x = 0; x < DEPTH_X_RES; x++) {
+			// get the value at the current depth pixel, convert to millimeters
+			uint32_t buf_index = y * DEPTH_X_RES + x;
+			uint16_t metric_depth = reg->raw_to_mm_shift[input[buf_index]];
+			output_mm[buf_index] = metric_depth < DEPTH_MAX_METRIC_VALUE ? metric_depth : DEPTH_MAX_METRIC_VALUE;
+		}
+	}
+	return 0;
+}
+
 // create temporary x/y shift tables
 static void freenect_create_dxdy_tables(double* reg_x_table, double* reg_y_table, int32_t resolution_x, int32_t resolution_y, freenect_reg_info* regdata )
 {

addons/ofxKinect/libs/libfreenect/src/registration.h

@@ -26,9 +26,11 @@
 
 #pragma once
 
+#include <stdbool.h>
 #include "libfreenect.h"
 
 // Internal function declarations relating to registration
 int freenect_init_registration(freenect_device* dev);
-int freenect_apply_registration(freenect_device* dev, uint8_t* input_packed, uint16_t* output_mm);
+int freenect_apply_registration(freenect_device* dev, uint8_t* input, uint16_t* output_mm, bool unpacked);
 int freenect_apply_depth_to_mm(freenect_device* dev, uint8_t* input_packed, uint16_t* output_mm);
+int freenect_apply_depth_unpacked_to_mm(freenect_device* dev, uint16_t* input, uint16_t* output_mm);

addons/ofxKinect/libs/libfreenect/src/tilt.c

@@ -64,7 +64,7 @@ int get_reply(libusb_device_handle* dev, freenect_context *ctx){
 	int res = 0;
 	res = libusb_bulk_transfer(dev, 0x81, buffer, 512, &transferred, 100);
 	if (res != 0) {
-		FN_ERROR("get_reply(): libusb_bulk_transfer failed: %d (transferred = %d)\n", res, transferred);
+		FN_ERROR("get_reply(): libusb_bulk_transfer failed: %s (transferred = %d)\n", libusb_error_name(res), transferred);
 	} else if (transferred != 12) {
 		FN_ERROR("get_reply(): weird - got %d bytes (expected 12)\n", transferred);
 	} else {
@@ -214,7 +214,7 @@ int freenect_set_tilt_degs_alt(freenect_device *dev, int tilt_degrees)
 
 	res = libusb_bulk_transfer(dev->usb_audio.dev, 0x01, buffer, 20, &transferred, 250);
 	if (res != 0) {
-		FN_ERROR("freenect_set_tilt_alt(): libusb_bulk_transfer failed: %d (transferred = %d)\n", res, transferred);
+		FN_ERROR("freenect_set_tilt_alt(): libusb_bulk_transfer failed: %s (transferred = %d)\n", libusb_error_name(res), transferred);
 		return res;
 	}
 
@@ -281,7 +281,7 @@ FN_INTERNAL int fnusb_set_led_alt(libusb_device_handle * dev, freenect_context *
 	int transferred = 0;
 	int res = libusb_bulk_transfer(dev, 0x01, buffer, 20, &transferred, 100);
 	if (res != 0) {
-		FN_WARNING("fnusb_set_led_alt(): libusb_bulk_transfer failed: %d (transferred = %d)\n", res, transferred);
+		FN_WARNING("fnusb_set_led_alt(): libusb_bulk_transfer failed: %s (transferred = %d)\n", libusb_error_name(res), transferred);
 		return res;
 	}
 	return get_reply(dev, ctx);