Merge tag 'v0.5.0' into dfsg

libfreenect v0.5.0 Satellite

* tag 'v0.5.0': (44 commits)
  Fix stupid comparison mistake in audio serial fallback
  Update CMakeList.txt and ebuild for v0.5.0
  c_sync: Collapse unused functions
  Configure audio support at runtime - fixes OpenKinect#372
  Use audio serial as a fallback for K4W and 1473 models that do not provide a useful camera serial (thanks @olzhas). Fixes OpenKinect#360 and resolves OpenKinect#393.
  Remove legacy keep_alive.c; now require libusb >= 1.0.18
  c_sync: Add freenect_sync_camera_to_world() (thanks @martyvona) - fixes OpenKinect#294
  Fix a crash-on-exit in the OpenNI2 driver caused by using a deleted iterator.
  Cleanup imports in examples; also fixes a micview compile error on OS X.
  Allow freenect_set_tilt_degs to take a negative angle
  Update CMakeLists.txt for v0.4.3
  win32: Fix command in examples/CMakeLists.txt
  ebuild: Improve python dependency - fixes OpenKinect#391
  Standardize indentation in fnusb_open_subdevices
  Use non-infinite timeouts for bulk tilt / led commands Reset the audio device before using it to ensure the commands can be sent correctly Fixes OpenKinect#390
  Update README.md and CMakeLists.txt for v0.4.2
  Fix fakenect not handling freenect_process_events_timeout
  FN_DEBUG: print read_register and read_cmos_register replies
  Fix cmake module include order Fix cpack user option on linux Separate cpack options for different generators and add tgz generator Add cmake config file Fixes OpenKinect#355
  wrappers/python: update freenect.c - fixes OpenKinect#326
  ...

Author: yarikoptic

CMakeLists.txt

@@ -39,16 +39,22 @@ set(PYTHON_EXECUTABLE "python2")
 
 PROJECT(libfreenect)
 
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/")
+
+# Find the host operating system and architecture
+include (FindOS)
+# Set up installation directories
+include (SetupDirectories)
+
 set (PROJECT_VER_MAJOR 0)
-set (PROJECT_VER_MINOR 4)
+set (PROJECT_VER_MINOR 5)
 set (PROJECT_VER_PATCH 0)
-set (PROJECT_VER 
+set (PROJECT_VER
   "${PROJECT_VER_MAJOR}.${PROJECT_VER_MINOR}.${PROJECT_VER_PATCH}")
-set (PROJECT_APIVER 
+set (PROJECT_APIVER
   "${PROJECT_VER_MAJOR}.${PROJECT_VER_MINOR}")
 
-OPTION(BUILD_AUDIO "Build audio support" OFF)
-OPTION(BUILD_REDIST_PACKAGE "Build libfreenect in a legally-redistributable manner (only affects audio)" OFF)
+OPTION(BUILD_REDIST_PACKAGE "Build libfreenect in a legally-redistributable manner (only affects audio)" ON)
 OPTION(BUILD_EXAMPLES "Build example programs" ON)
 OPTION(BUILD_FAKENECT "Build fakenect mock library" ON)
 OPTION(BUILD_C_SYNC "Build c synchronous library" ON)
@@ -58,20 +64,15 @@ OPTION(BUILD_AS3_SERVER "Build the Actionscript 3 Server Example" OFF)
 OPTION(BUILD_PYTHON "Build Python extension" OFF)
 OPTION(BUILD_OPENNI2_DRIVER "Build libfreenect driver for OpenNI2" OFF)
 IF(PROJECT_OS_LINUX)
-	OPTION(BUILD_CPACK "Build an RPM or DEB using CPack" OFF)
+	OPTION(BUILD_CPACK_DEB "Build an DEB using CPack" OFF)
+	OPTION(BUILD_CPACK_RPM "Build an RPM using CPack" OFF)
+	OPTION(BUILD_CPACK_TGZ "Build an TGZ using CPack" OFF)
 ENDIF(PROJECT_OS_LINUX)
 
 ######################################################################################
-# CMake Modules
+# Dependencies and Definitions
 ######################################################################################
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/")
-
-# Find the host operating system and architecture
-include (FindOS)
-# Set up installation directories
-include (SetupDirectories)
-
 # Find packages needed to build library
 find_package(libusb-1.0 REQUIRED)
 
@@ -82,33 +83,41 @@ if(BIG_ENDIAN)
   add_definitions(-DFN_BIGENDIAN)
 endif()
 
-if(BUILD_AUDIO)
-  add_definitions(-DBUILD_AUDIO)
-endif()
-
 if (WIN32)
-   set(MATH_LIB "")
+  set(MATH_LIB "")
 else(WIN32)
   set(MATH_LIB "m")
 endif()
 
 ######################################################################################
-# CMake 
+# CMake
 ######################################################################################
 
 SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
 SET(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib)
 SET(DOC_OUTPUT_PATH ${CMAKE_BINARY_DIR}/doc)
 
-# let CFLAGS env override this
-if(CMAKE_C_FLAGS STREQUAL "")
-  set(CMAKE_C_FLAGS "-O2")
-endif()
-SET(CMAKE_C_FLAGS_DEBUG "-g -DDEBUG=1")
-SET(CMAKE_C_FLAGS_RELEASE "-O2")
-SET(CMAKE_C_FLAGS_RELWITHDEBINFO "-O2 -g")
+if    (MSVC)
+  set(C_FLAGS_WARNING "-W4")
+else  ()
+  set(C_FLAGS_WARNING "-Wall")
+endif (MSVC)
+
+set(C_CXX_FLAGS_DEFAULT "${C_FLAGS_WARNING} -O2")
 
-add_definitions(-Wall)
+# These defaults can be overriden by -DCMAKE_C_FLAGS=""
+set(CMAKE_C_FLAGS "${C_CXX_FLAGS_DEFAULT} ${CMAKE_C_FLAGS}")
+# C Configurations
+SET(CMAKE_C_FLAGS_DEBUG   "${CMAKE_C_FLAGS} -g -DDEBUG=1")
+SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS}")
+SET(CMAKE_C_FLAGS_RELWITHDEBINFO "${CMAKE_C_FLAGS_RELEASE} -g")
+
+# These defaults can be overriden by -DCMAKE_CXX_FLAGS=""
+set(CMAKE_CXX_FLAGS "${C_CXX_FLAGS_DEFAULT} ${CMAKE_CXX_FLAGS}")
+# C++ Configurations
+SET(CMAKE_CXX_FLAGS_DEBUG   "${CMAKE_CXX_FLAGS} -g -DDEBUG=1")
+SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS}")
+SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} -g")
 
 # Pretty much everyone is going to need the main includes
 include_directories (${CMAKE_CURRENT_SOURCE_DIR}/include)
@@ -118,13 +127,11 @@ include_directories(${LIBUSB_1_INCLUDE_DIRS})
 
 if(WIN32)
   include_directories("${CMAKE_CURRENT_SOURCE_DIR}/platform/windows")
-  include_directories("${CMAKE_CURRENT_SOURCE_DIR}/platform/windows/libusb10emu/libusb-1.0")
 endif()
 
 # Add library project
 add_subdirectory (src)
 
-# Add examples
 IF(BUILD_EXAMPLES)
   add_subdirectory (examples)
 ENDIF()
@@ -167,13 +174,17 @@ configure_file(
   "${CMAKE_CURRENT_BINARY_DIR}/UninstallTarget.cmake"
   IMMEDIATE @ONLY)
 
+# --- cmake config file ---
+CONFIGURE_FILE(libfreenectConfig.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/libfreenectConfig.cmake @ONLY)
+INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/libfreenectConfig.cmake DESTINATION share/${PROJECT_NAME})
+
 add_custom_target(uninstall
   COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/UninstallTarget.cmake)
 
 # Create Debian/RPM Packages
 # after make, use "fakeroot cpack" in the build Dir to complete
 
-IF ( BUILD_CPACK )
+IF ( BUILD_CPACK_TGZ OR BUILD_CPACK_DEB OR BUILD_CPACK_RPM )
   set(CPACK_PACKAGE_DESCRIPTION "libfreenect for kinect")
   set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "libfreenect library for using kinect")
   set(CPACK_PACKAGE_NAME "libfreenect-dev")
@@ -186,20 +197,27 @@ IF ( BUILD_CPACK )
   set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VER_PATCH})
   set(VERSION "${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}")
 
-  set(CPACK_GENERATOR "DEB;RPM;")
+  set(CPACK_GENERATOR "")
+  if (BUILD_CPACK_TGZ)
+    list(APPEND CPACK_GENERATOR "TGZ")
+  endif()
+  if (BUILD_CPACK_RPM)
+    list(APPEND CPACK_GENERATOR "RPM")
+  endif()
+  if (BUILD_CPACK_DEB)
+    list(APPEND CPACK_GENERATOR "DEB")
+  endif()
   set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_NAME}-${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}-${CMAKE_SYSTEM_PROCESSOR}")
 
   include(CPack)
 
   INSTALL(FILES "${CMAKE_BINARY_DIR}/lib/libfreenect.a" DESTINATION ${PROJECT_LIBRARY_INSTALL_DIR})
-  if (BUILD_AUDIO)
-    INSTALL(FILES "include/libfreenect_audio.h" DESTINATION ${PROJECT_INCLUDE_INSTALL_DIR})
-  endif()
   INSTALL(FILES "include/libfreenect.h" DESTINATION ${PROJECT_INCLUDE_INSTALL_DIR})
   INSTALL(FILES "include/libfreenect_registration.h" DESTINATION ${PROJECT_INCLUDE_INSTALL_DIR})
+  INSTALL(FILES "include/libfreenect_audio.h" DESTINATION ${PROJECT_INCLUDE_INSTALL_DIR})
   INSTALL(FILES "APACHE20" DESTINATION "share/doc/${CPACK_PACKAGE_NAME}")
   INSTALL(FILES "GPL2" DESTINATION "share/doc/${CPACK_PACKAGE_NAME}")
   INSTALL(FILES "README.md" DESTINATION "share/doc/${CPACK_PACKAGE_NAME}")
 
-ENDIF ( BUILD_CPACK )
+ENDIF ( )
 

HACKING

@@ -2,17 +2,20 @@
 # OpenNI2-FreenectDriver
 ######################################################################################
 
+file(GLOB HEADERS src/*.hpp src/*.h)
 file(GLOB SOURCES src/*.cpp)
-add_library(FreenectDriver SHARED ${SOURCES})
+add_library(FreenectDriver SHARED ${HEADERS} ${SOURCES})
 
-set(CMAKE_CXX_FLAGS "-Wno-gnu-static-float-init -Wno-unused-function")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-unused-function")
 
 set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib/OpenNI2-FreenectDriver)
-set_target_properties( FreenectDriver PROPERTIES
+set_target_properties(FreenectDriver PROPERTIES
   VERSION ${PROJECT_VER}
   SOVERSION ${PROJECT_APIVER}
   OUTPUT_NAME FreenectDriver)
 
+add_definitions(-DPROJECT_VER="${PROJECT_VER}")
+
 include_directories(extern/OpenNI-Linux-x64-2.2.0.33/Include)
 include_directories(${PROJECT_SOURCE_DIR}/wrappers/cpp)
 

OpenNI2-FreenectDriver/CMakeLists.txt

@@ -8,6 +8,7 @@ ColorStream::ColorStream(Freenect::FreenectDevice* pDevice) : VideoStream(pDevic
 {
   video_mode = makeOniVideoMode(ONI_PIXEL_FORMAT_RGB888, 640, 480, 30);
   setVideoMode(video_mode);
+  pDevice->startVideo();
 }
 
 // Add video modes here as you implement them
@@ -50,9 +51,10 @@ OniStatus ColorStream::setVideoMode(OniVideoMode requested_mode)
 void ColorStream::populateFrame(void* data, OniFrame* frame) const
 {
   frame->sensorType = sensor_type;
-  frame->stride = video_mode.resolutionX*3;
-  frame->cropOriginX = frame->cropOriginY = 0;
-  frame->croppingEnabled = FALSE;
+  frame->stride = video_mode.resolutionX * 3;
+  frame->cropOriginX = 0;
+  frame->cropOriginY = 0;
+  frame->croppingEnabled = false;
 
   // copy stream buffer from freenect
   switch (video_mode.pixelFormat)
@@ -62,28 +64,9 @@ void ColorStream::populateFrame(void* data, OniFrame* frame) const
       return;
 
     case ONI_PIXEL_FORMAT_RGB888:
-      unsigned char* data_ptr = static_cast<unsigned char*>(data);
-      unsigned char* frame_data = static_cast<unsigned char*>(frame->data);
-      if (mirroring)
-      {
-        for (int i = 0; i < frame->dataSize; i += 3)
-        {
-          // find corresponding mirrored pixel
-          unsigned int pixel = i / 3;
-          unsigned int row = pixel / video_mode.resolutionX;
-          unsigned int col = video_mode.resolutionX - (pixel % video_mode.resolutionX);
-          unsigned int target = 3 * (row * video_mode.resolutionX + col);
-          // copy it to this pixel
-          frame_data[i] = data_ptr[target];
-          frame_data[i+1] = data_ptr[target+1];
-          frame_data[i+2] = data_ptr[target+2];
-        }
-      }
-      else
-      {
-        std::copy(data_ptr, data_ptr+frame->dataSize, frame_data);
-      }
-
+      uint8_t* source = static_cast<uint8_t*>(data);
+      uint8_t* target = static_cast<uint8_t*>(frame->data);
+      std::copy(source, source + frame->dataSize, target);
       return;
   }
 }

OpenNI2-FreenectDriver/src/ColorStream.cpp

@@ -36,7 +36,7 @@ namespace FreenectDriver
     {
       FreenectVideoModeMap supported_modes = getSupportedVideoModes();
       OniVideoMode* modes = new OniVideoMode[supported_modes.size()];
-      std::transform(supported_modes.begin(), supported_modes.end(), modes, RetrieveKey());
+      std::transform(supported_modes.begin(), supported_modes.end(), modes, ExtractKey());
       OniSensorInfo sensors = { sensor_type, static_cast<int>(supported_modes.size()), modes };
       return sensors;
     }
@@ -139,6 +139,17 @@ namespace FreenectDriver
           int ret = device->setFlag(FREENECT_AUTO_WHITE_BALANCE, auto_exposure);
           return (ret == 0) ? ONI_STATUS_OK : ONI_STATUS_ERROR;
         }
+        case ONI_STREAM_PROPERTY_MIRRORING:          // OniBool
+        {
+          if (dataSize != sizeof(OniBool))
+          {
+            LogError("Unexpected size for ONI_STREAM_PROPERTY_MIRRORING");
+            return ONI_STATUS_ERROR;
+          }
+          mirroring = *(static_cast<const OniBool*>(data));
+          int ret = device->setFlag(FREENECT_MIRROR_VIDEO, mirroring);
+          return (ret == 0) ? ONI_STATUS_OK : ONI_STATUS_ERROR;
+        }
       }
     }
   };