Merge pull request #5231 from openframeworks/bugfix-ofxkinect

Bugfix ofxKinect / latest libfreenect

addons/ofxKinect/libs/libfreenect/include/libfreenect.h

@@ -32,7 +32,6 @@
 #ifdef _WIN32
 #include <winsock.h>
 #else
-#define BUILD_AUDIO
 #include <sys/time.h>
 #endif
 
@@ -65,10 +64,10 @@ typedef enum {
 /// A struct used in enumeration to give access to serial numbers, so you can
 /// open a particular device by serial rather than depending on index.  This
 /// is most useful if you have more than one Kinect.
-struct freenect_device_attributes;
-struct freenect_device_attributes {
-	struct freenect_device_attributes *next; /**< Next device in the linked list */
-	const char* camera_serial; /**< Serial number of this device's camera subdevice */
+struct freenect_device_attributes
+{
+	struct freenect_device_attributes *next; // Next device in the linked list
+	const char* camera_serial;               // Serial number of camera or audio subdevice
 };
 
 /// Enumeration of available resolutions.
@@ -116,6 +115,7 @@ typedef enum {
 	// arbitrary bitfields to support flag combination
 	FREENECT_MIRROR_DEPTH       = 1 << 16,
 	FREENECT_MIRROR_VIDEO       = 1 << 17,
+	FREENECT_NEAR_MODE          = 1 << 18, // K4W only
 } freenect_flag;
 
 /// Possible values for setting each `freenect_flag`
@@ -670,6 +670,25 @@ FREENECTAPI int freenect_set_depth_mode(freenect_device* dev, const freenect_fra
  */
 FREENECTAPI int freenect_set_flag(freenect_device *dev, freenect_flag flag, freenect_flag_value value);
 
+/**
+ * Returns the brightness of the IR sensor.
+ *
+ * @param dev Device to get IR brightness
+ *
+ * @return IR brightness value in the range 1 - 50, < 0 if error
+ */
+FREENECTAPI int freenect_get_ir_brightness(freenect_device *dev);
+
+/**
+ * Sets the brightness of the IR sensor.
+ * Note that this does not change the intensity of the IR projector.
+ *
+ * @param dev Device to set IR brightness
+ * @param brighness Brightness value in range 1 - 50
+ *
+ * @return 0 on success, < 0 if error
+ */
+FREENECTAPI int freenect_set_ir_brightness(freenect_device *dev, uint16_t brightness);
 
 /**
  * Allows the user to specify a pointer to the audio firmware in memory for the Xbox 360 Kinect
@@ -692,4 +711,4 @@ FREENECTAPI void freenect_set_fw_address_k4w(freenect_context * ctx, unsigned ch
 
 #ifdef __cplusplus
 }
-#endif
+#endif

addons/ofxKinect/libs/libfreenect/include/libfreenect_registration.h

@@ -120,6 +120,11 @@ FREENECTAPI int freenect_destroy_registration(freenect_registration* reg);
 FREENECTAPI void freenect_camera_to_world(freenect_device* dev,
 	int cx, int cy, int wz, double* wx, double* wy);
 
+// helper function to map one FREENECT_VIDEO_RGB image to a FREENECT_DEPTH_MM
+// image (inverse mapping to FREENECT_DEPTH_REGISTERED, which is depth -> RGB)
+FREENECTAPI void freenect_map_rgb_to_depth( freenect_device* dev,
+	uint16_t* depth_mm, uint8_t* rgb_raw, uint8_t* rgb_registered );
+
 #ifdef __cplusplus
 }
 #endif

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

@@ -27,15 +27,29 @@
 #pragma once
 
 #include <stdint.h>
+#include <windows.h>
 
-// MinGW defines _SSIZE_T_ in sys/types.h when it defines ssize_t to be a long.
+// MinGW defines _SSIZE_T_DEFINED in sys/types.h when it defines ssize_t to be a long.
 // Redefining it causes an error.
 // MSVC does not define this.
-#ifndef _SSIZE_T_
-#define _SSIZE_T_
+#ifndef _SSIZE_T_DEFINED
+#define _SSIZE_T_DEFINED
 #ifdef _WIN64
 typedef __int64 ssize_t;
 #else
-typedef long ssize_t;
+	typedef int ssize_t;
 #endif
-#endif // _SSIZE_T_
+#endif // _SSIZE_T_DEFINED
+
+
+static void usleep(__int64 usec)
+{
+	// Convert to 100 nanosecond interval, negative for relative time.
+	LARGE_INTEGER ft;
+	ft.QuadPart = -(10 * usec);
+
+	HANDLE timer = CreateWaitableTimer(NULL, TRUE, NULL);
+	SetWaitableTimer(timer, &ft, 0, NULL, NULL, 0);
+	WaitForSingleObject(timer, INFINITE);
+	CloseHandle(timer);
+}

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

@@ -30,7 +30,6 @@
 #include <string.h>
 #include <stdlib.h>
 
-#ifdef BUILD_AUDIO
 
 static void prepare_iso_out_data(freenect_device* dev, uint8_t* buffer) {
 	audio_stream* stream = &dev->audio;
@@ -239,5 +238,3 @@ int freenect_stop_audio(freenect_device* dev) {
 
 	return ret;
 }
-
-#endif 

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

@@ -841,7 +841,6 @@ static int freenect_fetch_zero_plane_info(freenect_device *dev)
 int freenect_start_depth(freenect_device *dev)
 {
 	freenect_context *ctx = dev->parent;
-	int res;
 
 	if (dev->depth.running)
 		return -1;
@@ -869,7 +868,12 @@ int freenect_start_depth(freenect_device *dev)
 			return -1;
 	}
 
-	res = fnusb_start_iso(&dev->usb_cam, &dev->depth_isoc, depth_process, 0x82, NUM_XFERS, PKTS_PER_XFER, DEPTH_PKTBUF);
+	const unsigned char depth_endpoint = 0x82;
+	int packet_size = fnusb_get_max_iso_packet_size(&dev->usb_cam, depth_endpoint, DEPTH_PKTBUF);
+
+	FN_INFO("[Stream 70] Negotiated packet size %d\n", packet_size);
+
+	int res = fnusb_start_iso(&dev->usb_cam, &dev->depth_isoc, depth_process, depth_endpoint, NUM_XFERS, PKTS_PER_XFER, packet_size);
 	if (res < 0)
 		return res;
 
@@ -901,7 +905,6 @@ int freenect_start_depth(freenect_device *dev)
 int freenect_start_video(freenect_device *dev)
 {
 	freenect_context *ctx = dev->parent;
-	int res;
 
 	if (dev->video.running)
 		return -1;
@@ -1015,7 +1018,12 @@ int freenect_start_video(freenect_device *dev)
 			break;
 	}
 
-	res = fnusb_start_iso(&dev->usb_cam, &dev->video_isoc, video_process, 0x81, NUM_XFERS, PKTS_PER_XFER, VIDEO_PKTBUF);
+	const unsigned char video_endpoint = 0x81;
+	int packet_size = fnusb_get_max_iso_packet_size(&dev->usb_cam, video_endpoint, VIDEO_PKTBUF);
+
+	FN_INFO("[Stream 80] Negotiated packet size %d\n", packet_size);
+
+	int res = fnusb_start_iso(&dev->usb_cam, &dev->video_isoc, video_process, video_endpoint, NUM_XFERS, PKTS_PER_XFER, packet_size);
 	if (res < 0)
 		return res;
 

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

@@ -34,9 +34,8 @@
 #include "freenect_internal.h"
 #include "registration.h"
 #include "cameras.h"
-#ifdef BUILD_AUDIO
 #include "loader.h"
-#endif
+
 
 FREENECTAPI int freenect_init(freenect_context **ctx, freenect_usb_context *usb_ctx)
 {
@@ -49,11 +48,7 @@ FREENECTAPI int freenect_init(freenect_context **ctx, freenect_usb_context *usb_
 	memset(*ctx, 0, sizeof(freenect_context));
 
 	(*ctx)->log_level = LL_WARNING;
-	(*ctx)->enabled_subdevices = (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA
-#ifdef BUILD_AUDIO
-			| FREENECT_DEVICE_AUDIO
-#endif
-			);
+	(*ctx)->enabled_subdevices = (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA);
 	res = fnusb_init(&(*ctx)->usb, usb_ctx);
 	if (res < 0) {
 		free(*ctx);
@@ -94,13 +89,11 @@ FREENECTAPI int freenect_process_events_timeout(freenect_context *ctx, struct ti
 			freenect_stop_video(dev);
 			freenect_stop_depth(dev);
 		}
-#ifdef BUILD_AUDIO
 		if (dev->usb_audio.device_dead) {
 			FN_ERROR("USB audio marked dead, stopping streams\n");
 			res = -1; // Or something else to tell the user that the device just vanished.
 			freenect_stop_audio(dev);
 		}
-#endif
 		dev = dev->next;
 	}
 	return res;
@@ -132,23 +125,18 @@ FREENECTAPI void freenect_free_device_attributes(struct freenect_device_attribut
 	return;
 }
 
-FREENECTAPI int freenect_supported_subdevices(void) {
-#ifdef BUILD_AUDIO
+FREENECTAPI int freenect_supported_subdevices(void)
+{
 	return FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA | FREENECT_DEVICE_AUDIO;
-#else
-	return FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA;
-#endif
 }
 
-FREENECTAPI void freenect_select_subdevices(freenect_context *ctx, freenect_device_flags subdevs) {
-	ctx->enabled_subdevices = (freenect_device_flags)(subdevs & (FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA
-#ifdef BUILD_AUDIO
-			| FREENECT_DEVICE_AUDIO
-#endif
-			));
+FREENECTAPI void freenect_select_subdevices(freenect_context *ctx, freenect_device_flags subdevs)
+{
+	ctx->enabled_subdevices = (freenect_device_flags)(subdevs & (FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA | FREENECT_DEVICE_AUDIO));
 }
 
-FREENECTAPI freenect_device_flags freenect_enabled_subdevices(freenect_context *ctx) {
+FREENECTAPI freenect_device_flags freenect_enabled_subdevices(freenect_context *ctx)
+{
 	return ctx->enabled_subdevices;
 }
 
@@ -200,7 +188,7 @@ FREENECTAPI int freenect_open_device_by_camera_serial(freenect_context *ctx, fre
 	int count = fnusb_list_device_attributes(&ctx->usb, &attrlist);
 	if (count < 0) {
 		FN_ERROR("freenect_open_device_by_camera_serial: Couldn't enumerate serial numbers\n");
-		return -1;
+		return count;
 	}
 	int index = 0;
 	for(item = attrlist ; item != NULL; item = item->next , index++) {

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

@@ -25,13 +25,11 @@
  */
 
 #include <string.h> // for memcpy
+#include <unistd.h> // for usleep
 #include "freenect_internal.h"
 #include "flags.h"
 
 
-// freenect_set_flag is the only function exposed in libfreenect.h
-// The rest are available internally via #include flags.h
-
 FN_INTERNAL int register_for_flag(int flag)
 {
     switch(flag)
@@ -47,6 +45,34 @@ FN_INTERNAL int register_for_flag(int flag)
 
 int freenect_set_flag(freenect_device *dev, freenect_flag flag, freenect_flag_value value)
 {
+	freenect_context *ctx = dev->parent;
+
+	if (flag == FREENECT_NEAR_MODE)
+	{
+		if (dev->usb_cam.PID != PID_K4W_CAMERA)
+		{
+			FN_WARNING("Near mode is only supported by K4W");
+			return -1;
+		}
+
+		if (value == FREENECT_ON)
+		{
+			int ret = write_register(dev, 0x0015, 0x0007);
+			if (ret < 0)
+				return ret;
+			usleep(100000);
+			return write_register(dev, 0x02EF, 0x0000);
+		}
+		else
+		{
+			int ret = write_register(dev, 0x0015, 0x001E);
+			if (ret < 0)
+				return ret;
+			usleep(100000);
+			return write_register(dev, 0x02EF, 0x0190);
+		}
+	}
+
     if (flag >= (1 << 16))
     {
         int reg = register_for_flag(flag);
@@ -67,6 +93,42 @@ int freenect_set_flag(freenect_device *dev, freenect_flag flag, freenect_flag_va
 	return write_cmos_register(dev, 0x0106, cmos_value);
 }
 
+int freenect_get_ir_brightness(freenect_device *dev)
+{
+	freenect_context *ctx = dev->parent;
+
+	const uint16_t brightness = read_register(dev, 0x15);
+	if (brightness == UINT16_MAX)
+	{
+		FN_WARNING("Failed to get IR brightness!");
+		return -1;
+	}
+
+	return brightness;
+}
+
+int freenect_set_ir_brightness(freenect_device *dev, uint16_t brightness)
+{
+	freenect_context *ctx = dev->parent;
+
+	if (brightness < 1)
+	{
+		brightness = 1;
+	}
+	if (brightness > 50)
+	{
+		brightness = 50;
+	}
+
+	const int ret = write_register(dev, 0x15, brightness);
+	if (ret < 0)
+	{
+		FN_WARNING("Failed to set IR brightness");
+	}
+
+	return ret;
+}
+
 typedef struct {
 	uint8_t magic[2];
 	uint16_t len;