Merge branch 'dfsg' into debian

* dfsg: (84 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

@@ -30,48 +30,49 @@
 # CMake directives
 ######################################################################################
 
-#Require 2.6 or higher. 
-
 cmake_minimum_required(VERSION 2.6)
+set(PYTHON_EXECUTABLE "python2")
 
 ######################################################################################
 # Project declaration and options
 ######################################################################################
 
 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 2)
+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)
 OPTION(BUILD_CPP "Build C++ Library (currently header only)" ON)
 OPTION(BUILD_CV "Build OpenCV wrapper" OFF)
 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)
 
-add_definitions(-Wall)
+set(C_CXX_FLAGS_DEFAULT "${C_FLAGS_WARNING} -O2")
+
+# These defaults can be overriden by -DCMAKE_C_FLAGS=""
+set(CMAKE_C_FLAGS "${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()
@@ -153,6 +160,10 @@ IF(BUILD_PYTHON)
   add_subdirectory (wrappers/python)
 ENDIF()
 
+IF(BUILD_OPENNI2_DRIVER)
+  add_subdirectory(OpenNI2-FreenectDriver)
+ENDIF()
+
 ######################################################################################
 # Extras
 ######################################################################################
@@ -163,13 +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")
@@ -182,20 +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_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/${CPACK_PACKAGE_NAME}")
-  INSTALL(FILES "README.asciidoc" DESTINATION "share/doc/${CPACK_PACKAGE_NAME}")
+  INSTALL(FILES "README.md" DESTINATION "share/doc/${CPACK_PACKAGE_NAME}")
 
-ENDIF ( BUILD_CPACK )
+ENDIF ( )
 

HACKING

@@ -0,0 +1,25 @@
+######################################################################################
+# OpenNI2-FreenectDriver
+######################################################################################
+
+file(GLOB HEADERS src/*.hpp src/*.h)
+file(GLOB SOURCES src/*.cpp)
+add_library(FreenectDriver SHARED ${HEADERS} ${SOURCES})
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-unused-function")
+
+set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib/OpenNI2-FreenectDriver)
+set_target_properties(FreenectDriver PROPERTIES
+  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)
+
+target_link_libraries(FreenectDriver freenectstatic ${MATH_LIB})
+
+install (TARGETS FreenectDriver
+  DESTINATION "${PROJECT_LIBRARY_INSTALL_DIR}/OpenNI2-FreenectDriver")

OpenNI2-FreenectDriver/CMakeLists.txt

@@ -0,0 +1,60 @@
+OpenNI2-FreenectDriver
+======================
+
+OpenNI2-FreenectDriver is a bridge to libfreenect implemented as an OpenNI2 driver.
+It allows OpenNI2 to use Kinect hardware on Linux and OSX.
+It was originally a [separate project](https://github.com/piedar/OpenNI2-FreenectDriver) but is now distributed with libfreenect.
+OpenNI2-FreenectDriver is distributed under the [Apache 2](https://github.com/OpenKinect/libfreenect/blob/master/APACHE20) license.
+
+Install
+-------
+1. Download and unpack [OpenNI](http://www.openni.org/openni-sdk/) 2.2.0.33 or higher.
+2. Go to the top libfreenect directory and build it with the OpenNI2 driver.
+
+        mkdir build
+        cd build
+        cmake .. -DBUILD_OPENNI2_DRIVER=ON
+        make
+
+3. Copy the driver to your OpenNI2 driver repository. You must first change `Repository` to match your project layout.
+
+        Repository="/example/path/to/Samples/Bin/OpenNI2/Drivers/"
+        cp -L lib/OpenNI2-FreenectDriver/libFreenectDriver.{so,dylib} ${Repository}
+        
+        # you could instead make a symlink to avoid copying after every build
+        # ln -s lib/OpenNI2-FreenectDriver/libFreenectDriver.{so,dylib} ${Repository}
+
+OpenNI2-FreenectDriver is built with a static libfreenect, so you do not need to include libfreenect when deploying.
+However, you will need to make sure target systems have libusb and all other dependencies listed in `ldd libFreenectDriver.so`.
+
+__________________________________________________
+
+Structure
+---------
+This driver is modeled on TestDevice.cpp and Drivers/Kinect/.
+In the FreenectDriver namespace, it ties together the C++ interfaces of OpenNI2 and libfreenect using multiple inheritance.
+
+Driver inherits publically from oni::driver::DriverBase and privately from Freenect::Freenect.
+libfreenect.hpp allows protected access to the Freenect context, so that FreenectDriver can call the Freenect's C API.
+As a DriverBase, FreenectDriver manages devices and sets up device state callbacks.
+
+Device inherits publically from oni::driver::DeviceBase and Freenect::FreenectDevice.
+Because of this, it can be built by Freenect::Freenect::createDevice() and it can define Device's depth and video callbacks.
+Those callbacks trigger acquireFrame() in FreenectStream.
+
+VideoStream is a virtual base class inheriting from oni::driver::StreamBase.
+It does generic frame setup in buildFrame() and then calls pure virtual populateFrame() to let derived classes finish the frame.
+It also provides the base skeleton for setting and getting properties, which cascades down the inheritance tree.
+
+DepthStream and ColorStream are nearly identical in definition and implementation, both inheriting from VideoStream.
+They differ mostly in the formats they use to process data and the video modes they support.
+These two classes offer a system to store and report supported video modes.
+To implement a new mode, simply add it to getSupportedVideoModes() and modify populateFrame() as necessary.
+
+__________________________________________________
+
+Todo
+----
+* support more FREENECT_RESOLUTION_\*, FREENECT_VIDEO_\*, and FREENECT_DEPTH_\*
+* provide more OniVideoMode and OniStreamProperty
+* implement remaining derived functions