Merge branch 'dfsg' into debian

* dfsg:
  Return int from freenect_get_ir_brightness() - fixes OpenKinect#433
  Add ability to control IR projector brightness - fixes OpenKinect#433
  Update CMakeLists.txt for v0.5.2
  Let CMake find OpenGL/GLUT automatically
  python: Fix version detection python: Use list comprehension so setup.py runs on python3 - fixes OpenKinect#429
  examples: Do not require all dependencies; skip building examples with missing dependencies win32: Compiles as pure C
  win32: Fix c_sync build
  win32: Fix compiler errors
  Add freenect-camtest example for headless testing - fixes OpenKinect#428
  Update README.md
  Fix compiler warning by anonymizing enum; touch up indentation
  Negotiate maximum USB packet length
  fixed environment variable for Darwin
  OpenNI2-FreenectDriver: Expose USB VID/PID to OpenNI - fixes OpenKinect#422
  Add support for near mode (K4W only)
  Adds zbuffer to the mapping of rgb to depth
  clear rgb pixels without depth data for map_rgb_to_depth
  add freenect_map_rgb_to_depth helper function (untested)

Author: yarikoptic

CMakeLists.txt

@@ -48,7 +48,7 @@ include (SetupDirectories)
 
 set (PROJECT_VER_MAJOR 0)
 set (PROJECT_VER_MINOR 5)
-set (PROJECT_VER_PATCH 0)
+set (PROJECT_VER_PATCH 2)
 set (PROJECT_VER
   "${PROJECT_VER_MAJOR}.${PROJECT_VER_MINOR}.${PROJECT_VER_PATCH}")
 set (PROJECT_APIVER
@@ -108,14 +108,14 @@ set(C_CXX_FLAGS_DEFAULT "${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_DEBUG   "${CMAKE_C_FLAGS} -O0 -g -DDEBUG=1")
 SET(CMAKE_C_FLAGS_RELEASE "${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_DEBUG   "${CMAKE_CXX_FLAGS} -O0 -g -DDEBUG=1")
 SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS}")
 SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} -g")
 

OpenNI2-FreenectDriver/CMakeLists.txt

@@ -17,6 +17,7 @@ set_target_properties(FreenectDriver PROPERTIES
 add_definitions(-DPROJECT_VER="${PROJECT_VER}")
 
 include_directories(extern/OpenNI-Linux-x64-2.2.0.33/Include)
+include_directories(${PROJECT_SOURCE_DIR}/src)
 include_directories(${PROJECT_SOURCE_DIR}/wrappers/cpp)
 
 target_link_libraries(FreenectDriver freenectstatic ${MATH_LIB})

OpenNI2-FreenectDriver/README.md

@@ -3,12 +3,11 @@ 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.
+1. Download and unpack [OpenNI](http://structure.io/openni) 2.2.0.33 or higher.
 2. Go to the top libfreenect directory and build it with the OpenNI2 driver.
 
         mkdir build

OpenNI2-FreenectDriver/src/DeviceDriver.cpp

@@ -17,6 +17,7 @@
 #include <map>
 #include <string>
 #include "Driver/OniDriverAPI.h"
+#include "freenect_internal.h"
 #include "libfreenect.hpp"
 #include "DepthStream.hpp"
 #include "ColorStream.hpp"
@@ -254,6 +255,18 @@ namespace FreenectDriver
         devices[info] = NULL;
         deviceConnected(&info);
         deviceStateChanged(&info, 0);
+
+        freenect_device* dev;
+        if (freenect_open_device(m_ctx, &dev, i) == 0)
+        {
+          info.usbVendorId = dev->usb_cam.VID;
+          info.usbProductId = dev->usb_cam.PID;
+          freenect_close_device(dev);
+        }
+        else
+        {
+          WriteMessage("Unable to open device to query VID/PID");
+        }
       }
       return ONI_STATUS_OK;
     }

README.md

@@ -75,6 +75,7 @@ Continue with [Fetch & Build](#fetch-build).
 
 ## Linux
 
+Remember to install the [udev rules](https://github.com/OpenKinect/libfreenect/tree/master/platform/linux/udev).
 For a manual build, see [the wiki](http://openkinect.org/wiki/Getting_Started#Manual_Build_on_Linux).
 
 ### Ubuntu/Debian/Mint
@@ -83,12 +84,10 @@ The version packaged in Ubuntu may be very old.
 To install newer packaged builds, see [the wiki](http://openkinect.org/wiki/Getting_Started#Ubuntu.2FDebian).
 Continue with this section for a manual build.
 
-    sudo apt-get install git-core cmake pkg-config build-essential libusb-1.0-0-dev
-    sudo adduser $USER video
-    sudo adduser $USER plugdev # necessary?
+    sudo apt-get install git cmake build-essential libusb-1.0-0-dev
 
     # only if you are building the examples:
-    sudo apt-get install libglut3-dev libxmu-dev libxi-dev
+    sudo apt-get install freeglut3-dev libxmu-dev libxi-dev
 
 Continue with [Fetch & Build](#fetch-build).
 

examples/CMakeLists.txt

@@ -2,79 +2,58 @@
 # Packages needed for examples
 ######################################################################################
 
-# todo: use these throughout
-file(GLOB SRC_STANDARD chunkview.c glview.c hiview.c regview.c)
-file(GLOB SRC_AUDIO    micview.c wavrecord.c)
-file(GLOB SRC_SYNC     glpclview.c regtest.c tiltdemo.c)
-set (SRC_ALL ${SRC_STANDARD} ${SRC_AUDIO} ${SRC_SYNC})
-
-if (WIN32)
-  set(THREADS_USE_PTHREADS_WIN32 true)
-  find_package(Threads REQUIRED)
-  include_directories(${THREADS_PTHREADS_INCLUDE_DIR})
-  set_source_files_properties(${SRC_ALL} PROPERTIES LANGUAGE CXX)
-endif()
-
-add_executable(freenect-glview glview.c)
-add_executable(freenect-regview regview.c)
-add_executable(freenect-hiview hiview.c)
-add_executable(freenect-chunkview chunkview.c)
+# These examples have no external dependencies and should always build.
+add_executable(freenect-camtest camtest.c)
 add_executable(freenect-wavrecord wavrecord.c)
-add_executable(freenect-micview micview.c)
-
-if (BUILD_C_SYNC)
-  add_executable(freenect-glpclview glpclview.c)
-  add_executable(freenect-tiltdemo tiltdemo.c)
-  add_executable(freenect-regtest regtest.c)
-
-  add_dependencies(freenect-glpclview freenect-tiltdemo freenect-regtest
-    freenect_sync)
-endif()
-
-# We need to include libfreenect_sync.h for glpclview
-include_directories (../wrappers/c_sync/)
-
-# Mac just has everything already
-if(APPLE)
-  set(CMAKE_EXE_LINKER_FLAGS "-framework OpenGL -framework GLUT")
-  target_link_libraries(freenect-glview freenect)
-  target_link_libraries(freenect-regview freenect)
-  target_link_libraries(freenect-hiview freenect)
-  target_link_libraries(freenect-chunkview freenect)
-  target_link_libraries(freenect-wavrecord freenect)
-  target_link_libraries(freenect-micview freenect)
-  if (BUILD_C_SYNC)
-    target_link_libraries(freenect-glpclview freenect_sync)
-    target_link_libraries(freenect-tiltdemo freenect_sync)
-    target_link_libraries(freenect-regtest freenect_sync)
-  endif()
-# Linux, not so much
-else()
-
-  find_package(Threads REQUIRED)
-  find_package(OpenGL REQUIRED)
-  find_package(GLUT REQUIRED)
-
-  include_directories(${OPENGL_INCLUDE_DIR} ${GLUT_INCLUDE_DIR} ${USB_INCLUDE_DIRS})
+target_link_libraries(freenect-camtest freenect)
+target_link_libraries(freenect-wavrecord freenect)
+install(TARGETS freenect-camtest freenect-wavrecord
+        DESTINATION bin)
+
+# All viewers need pthreads and GLUT.
+set(THREADS_USE_PTHREADS_WIN32 true)
+find_package(Threads)
+find_package(OpenGL)
+find_package(GLUT)
+
+if (Threads_FOUND AND OPENGL_FOUND AND GLUT_FOUND)
+  include_directories(${THREADS_PTHREADS_INCLUDE_DIR} ${OPENGL_INCLUDE_DIR} ${GLUT_INCLUDE_DIR})
+
+  add_executable(freenect-glview glview.c)
+  add_executable(freenect-regview regview.c)
+  add_executable(freenect-hiview hiview.c)
+  add_executable(freenect-chunkview chunkview.c)
+  add_executable(freenect-micview micview.c)
 
   target_link_libraries(freenect-glview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
   target_link_libraries(freenect-regview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
   target_link_libraries(freenect-hiview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
   target_link_libraries(freenect-chunkview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
-  target_link_libraries(freenect-wavrecord freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
   target_link_libraries(freenect-micview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
-  if (BUILD_C_SYNC)
-    target_link_libraries(freenect-glpclview freenect_sync ${OPENGL_LIBRARIES} ${GLUT_LIBRARY}
- ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
-    target_link_libraries(freenect-tiltdemo freenect_sync ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
-    target_link_libraries(freenect-regtest freenect_sync ${CMAKE_THREAD_LIBS_INIT})
-  endif()
-endif()
 
-install (TARGETS freenect-glview freenect-regview freenect-hiview freenect-chunkview freenect-wavrecord freenect-micview
-  DESTINATION bin)
+  install(TARGETS freenect-glview freenect-regview freenect-hiview freenect-chunkview freenect-micview
+          DESTINATION bin)
+endif ()
 
+# A few examples use c_sync.
 if (BUILD_C_SYNC)
-  install (TARGETS freenect-glpclview freenect-tiltdemo
-    DESTINATION bin)
-endif()
+  find_package(Threads REQUIRED)
+  include_directories(../wrappers/c_sync/)
+  include_directories(${THREADS_PTHREADS_INCLUDE_DIR} ${OPENGL_INCLUDE_DIR} ${GLUT_INCLUDE_DIR})
+
+  add_executable(freenect-regtest regtest.c)
+  add_executable(freenect-tiltdemo tiltdemo.c)
+
+  target_link_libraries(freenect-regtest freenect_sync ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
+  target_link_libraries(freenect-tiltdemo freenect_sync ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
+
+  install(TARGETS freenect-regtest freenect-tiltdemo
+          DESTINATION bin)
+
+  if (OPENGL_FOUND AND GLUT_FOUND)
+    add_executable(freenect-glpclview glpclview.c)
+    target_link_libraries(freenect-glpclview freenect_sync ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
+    install(TARGETS freenect-glpclview
+            DESTINATION bin)
+  endif ()
+endif ()

examples/camtest.c

@@ -0,0 +1,144 @@
+/*
+ * This file is part of the OpenKinect Project. http://www.openkinect.org
+ *
+ * Copyright (c) 2010 individual OpenKinect contributors. See the CONTRIB file
+ * for details.
+ *
+ * This code is licensed to you under the terms of the Apache License, version
+ * 2.0, or, at your option, the terms of the GNU General Public License,
+ * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
+ * or the following URLs:
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * http://www.gnu.org/licenses/gpl-2.0.txt
+ *
+ * If you redistribute this file in source form, modified or unmodified, you
+ * may:
+ *   1) Leave this header intact and distribute it under the same terms,
+ *      accompanying it with the APACHE20 and GPL20 files, or
+ *   2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
+ *   3) Delete the GPL v2 clause and accompany it with the APACHE20 file
+ * In all cases you must keep the copyright notice intact and include a copy
+ * of the CONTRIB file.
+ *
+ * Binary distributions must follow the binary distribution requirements of
+ * either License.
+ */
+#include <signal.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include "libfreenect.h"
+
+#ifndef SIGQUIT // win32 compat
+	#define SIGQUIT SIGTERM
+#endif
+
+
+void depth_cb(freenect_device* dev, void* data, uint32_t timestamp)
+{
+	printf("Received depth frame at %d\n", timestamp);
+}
+
+void video_cb(freenect_device* dev, void* data, uint32_t timestamp)
+{
+	printf("Received video frame at %d\n", timestamp);
+}
+
+volatile bool running = true;
+void signalHandler(int signal)
+{
+	if (signal == SIGINT
+	 || signal == SIGTERM
+	 || signal == SIGQUIT)
+	{
+		running = false;
+	}
+}
+
+int main(int argc, char** argv)
+{
+	// Handle signals gracefully.
+	signal(SIGINT, signalHandler);
+	signal(SIGTERM, signalHandler);
+	signal(SIGQUIT, signalHandler);
+
+	// Initialize libfreenect.
+	freenect_context* fn_ctx;
+	int ret = freenect_init(&fn_ctx, NULL);
+	if (ret < 0)
+		return ret;
+
+	// Show debug messages and use camera only.
+	freenect_set_log_level(fn_ctx, FREENECT_LOG_DEBUG);
+	freenect_select_subdevices(fn_ctx, FREENECT_DEVICE_CAMERA);
+
+	// Find out how many devices are connected.
+	int num_devices = ret = freenect_num_devices(fn_ctx);
+	if (ret < 0)
+		return ret;
+	if (num_devices == 0)
+	{
+		printf("No device found!\n");
+		freenect_shutdown(fn_ctx);
+		return 1;
+	}
+
+	// Open the first device.
+	freenect_device* fn_dev;
+	ret = freenect_open_device(fn_ctx, &fn_dev, 0);
+	if (ret < 0)
+	{
+		freenect_shutdown(fn_ctx);
+		return ret;
+	}
+
+	// Set depth and video modes.
+	ret = freenect_set_depth_mode(fn_dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_MM));
+	if (ret < 0)
+	{
+		freenect_shutdown(fn_ctx);
+		return ret;
+	}
+	ret = freenect_set_video_mode(fn_dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB));
+	if (ret < 0)
+	{
+		freenect_shutdown(fn_ctx);
+		return ret;
+	}
+
+	// Set frame callbacks.
+	freenect_set_depth_callback(fn_dev, depth_cb);
+	freenect_set_video_callback(fn_dev, video_cb);
+
+	// Start depth and video.
+	ret = freenect_start_depth(fn_dev);
+	if (ret < 0)
+	{
+		freenect_shutdown(fn_ctx);
+		return ret;
+	}
+	ret = freenect_start_video(fn_dev);
+	if (ret < 0)
+	{
+		freenect_shutdown(fn_ctx);
+		return ret;
+	}
+
+	// Run until interruption or failure.
+	while (running && freenect_process_events(fn_ctx) >= 0)
+	{
+
+	}
+
+	printf("Shutting down\n");
+
+	// Stop everything and shutdown.
+	freenect_stop_depth(fn_dev);
+	freenect_stop_video(fn_dev);
+	freenect_close_device(fn_dev);
+	freenect_shutdown(fn_ctx);
+
+	printf("Done!\n");
+
+	return 0;
+}