Merge branch 'master' into dxli

dongxu · dongxu · commit 6b3353720d5e · 2012-03-08T13:58:12.000-05:00
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -18,6 +18,7 @@ if (WIN32)
 endif()
 
 add_executable(glview glview.c)
+add_executable(minimal minimal.c)
 add_executable(regview regview.c)
 add_executable(hiview hiview.c)
 if(BUILD_AUDIO)
@@ -38,6 +39,7 @@ include_directories (../wrappers/c_sync/)
 if(APPLE)
   set(CMAKE_EXE_LINKER_FLAGS "-framework OpenGL -framework GLUT")
   target_link_libraries(glview freenect)
+  target_link_libraries(minimal freenect)
   target_link_libraries(regview freenect)
   target_link_libraries(hiview freenect)
   if (BUILD_AUDIO)
@@ -65,6 +67,7 @@ else()
   endif()
 
   target_link_libraries(glview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
+  target_link_libraries(minimal freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
   target_link_libraries(regview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
   target_link_libraries(hiview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
   if (BUILD_AUDIO)
diff --git a/examples/glview.c b/examples/glview.c
@@ -67,7 +67,6 @@ GLuint gl_rgb_tex;
 freenect_context *f_ctx;
 freenect_device *f_dev;
 int freenect_angle = 0;
-int freenect_led;
 
 freenect_video_format requested_format = FREENECT_VIDEO_RGB;
 freenect_video_format current_format = FREENECT_VIDEO_RGB;
@@ -179,29 +178,6 @@ void keyPressed(unsigned char key, int x, int y)
 			freenect_angle = -30;
 		}
 	}
-	if (key == '1') {
-		freenect_set_led(f_dev,LED_GREEN);
-	}
-	if (key == '2') {
-		freenect_set_led(f_dev,LED_RED);
-	}
-	if (key == '3') {
-		freenect_set_led(f_dev,LED_YELLOW);
-	}
-	if (key == '4') {
-		freenect_set_led(f_dev,LED_BLINK_GREEN);
-	}
-	if (key == '5') {
-		// 5 is the same as 4
-		freenect_set_led(f_dev,LED_BLINK_GREEN);
-	}
-	if (key == '6') {
-		freenect_set_led(f_dev,LED_BLINK_RED_YELLOW);
-	}
-	if (key == '0') {
-		freenect_set_led(f_dev,LED_OFF);
-	}
-	freenect_set_tilt_degs(f_dev,freenect_angle);
 }
 
 void ReSizeGLScene(int Width, int Height)
@@ -335,10 +311,6 @@ void rgb_cb(freenect_device *dev, void *rgb, uint32_t timestamp)
 
 void *freenect_threadfunc(void *arg)
 {
-	int accelCount = 0;
-
-	freenect_set_tilt_degs(f_dev,freenect_angle);
-	freenect_set_led(f_dev,LED_RED);
 	freenect_set_depth_callback(f_dev, depth_cb);
 	freenect_set_video_callback(f_dev, rgb_cb);
 	freenect_set_video_mode(f_dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, current_format));
@@ -348,22 +320,7 @@ void *freenect_threadfunc(void *arg)
 	freenect_start_depth(f_dev);
 	freenect_start_video(f_dev);
 
-	printf("'w'-tilt up, 's'-level, 'x'-tilt down, '0'-'6'-select LED mode, 'f'-video format\n");
-
 	while (!die && freenect_process_events(f_ctx) >= 0) {
-		//Throttle the text output
-		if (accelCount++ >= 2000)
-		{
-			accelCount = 0;
-			freenect_raw_tilt_state* state;
-			freenect_update_tilt_state(f_dev);
-			state = freenect_get_tilt_state(f_dev);
-			double dx,dy,dz;
-			freenect_get_mks_accel(state, &dx, &dy, &dz);
-			printf("\r raw acceleration: %4d %4d %4d  mks acceleration: %4f %4f %4f", state->accelerometer_x, state->accelerometer_y, state->accelerometer_z, dx, dy, dz);
-			fflush(stdout);
-		}
-
 		if (requested_format != current_format) {
 			freenect_stop_video(f_dev);
 			freenect_set_video_mode(f_dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, requested_format));
@@ -411,8 +368,8 @@ int main(int argc, char **argv)
 		return 1;
 	}
 
-	freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
-	freenect_select_subdevices(f_ctx, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
+	freenect_set_log_level(f_ctx, FREENECT_LOG_SPEW);
+	freenect_select_subdevices(f_ctx, (freenect_device_flags)(FREENECT_DEVICE_CAMERA));
 
 	int nr_devices = freenect_num_devices (f_ctx);
 	printf ("Number of devices found: %d\n", nr_devices);
diff --git a/examples/hiview.c b/examples/hiview.c
@@ -68,7 +68,6 @@ GLuint gl_rgb_tex;
 
 freenect_context *f_ctx;
 freenect_device *f_dev;
-int freenect_led;
 
 freenect_video_format requested_format = FREENECT_VIDEO_RGB;
 freenect_video_format current_format = FREENECT_VIDEO_RGB;
@@ -360,7 +359,6 @@ void video_cb(freenect_device *dev, void *rgb, uint32_t timestamp)
 
 void *freenect_threadfunc(void *arg)
 {
-	freenect_set_led(f_dev,LED_RED);
 	freenect_set_depth_callback(f_dev, depth_cb);
 	freenect_set_video_callback(f_dev, video_cb);
 	freenect_set_video_mode(f_dev, freenect_find_video_mode(current_resolution, current_format));
@@ -436,7 +434,7 @@ int main(int argc, char **argv)
 	}
 
 	freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
-	freenect_select_subdevices(f_ctx, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
+	freenect_select_subdevices(f_ctx, FREENECT_DEVICE_CAMERA);
 
 	int nr_devices = freenect_num_devices (f_ctx);
 	printf ("Number of devices found: %d\n", nr_devices);
diff --git a/src/cameras.c b/src/cameras.c
@@ -903,13 +903,28 @@ static int freenect_fetch_zero_plane_info(freenect_device *dev)
 	uint16_t cmd[5] = {0}; // Offset is the only field in this command, and it's 0
 
 	int res;
-	res = send_cmd(dev, 0x04, cmd, 10, reply, 322); //OPCODE_GET_FIXED_PARAMS = 4,
-	if (res != 322) {
-		FN_ERROR("freenect_fetch_zero_plane_info: send_cmd read %d bytes (expected 322)\n", res);
+	int expected_len = 0;
+	int struct_offset = 0;
+	switch(dev->hwrev) {
+		case HWREV_XBOX360_0:
+			expected_len = 322;
+			struct_offset = 94;
+			break;
+		case HWREV_K4W_0:
+			expected_len = 334;
+			struct_offset = 94;
+			break;
+	}
+
+	res = send_cmd(dev, 0x04, cmd, 10, reply, expected_len); //OPCODE_GET_FIXED_PARAMS = 4,
+	if (res != expected_len) {
+		FN_ERROR("freenect_fetch_zero_plane_info: send_cmd read %d bytes (expected %d)\n", res, expected_len);
+
 		return -1;
 	}
 
-	memcpy(&(dev->registration.zero_plane_info), reply + 94, sizeof(dev->registration.zero_plane_info));
+	memcpy(&(dev->registration.zero_plane_info), reply + struct_offset, sizeof(dev->registration.zero_plane_info));
+
 	uint32_t temp;
 	temp = fn_le32(*((uint32_t*)(&dev->registration.zero_plane_info.dcmos_emitter_dist)));
 	dev->registration.zero_plane_info.dcmos_emitter_dist   = *((float*)(&temp));
@@ -984,11 +999,28 @@ int freenect_start_depth(freenect_device *dev)
 			break;
 	}
 	write_register(dev, 0x13, 0x01);
-	write_register(dev, 0x14, 0x1e);
+    write_register(dev, 0x14, 0x1e);
+
 	write_register(dev, 0x06, 0x02); // start depth stream
 	write_register(dev, 0x17, 0x00); // disable depth hflip
 
 	dev->depth.running = 1;
+
+//#ifdef NEAR_MODE
+//    //near mode
+//    write_register(dev, 0x15, 0x1e); //register not determined
+//    usleep(100000); //sleep 0.1 seconds
+//    write_register(dev, 0x2ef, 0x190); //near mode: register 2EF set to 190
+//#else
+//    //far mode, doesn't work yet
+//    //need to restore the camera to near mode
+//    write_register(dev, 0x15, 0x7); //register not determined
+//    usleep(100000); //sleep 0.1 seconds
+//    //far mode doesn't work yet for me, after being set to near mode once, the camera stays so
+//    write_register(dev, 0x2ef, 0x0); //far mode: register 2EF set to 0
+//#endif
+//    usleep(100000);
+
 	return 0;
 }
 
@@ -1251,7 +1283,8 @@ int freenect_set_video_mode(freenect_device* dev, const freenect_frame_mode mode
 	dev->video_resolution = res;
 	// Now that we've changed video format and resolution, we need to update
 	// registration tables.
-	freenect_fetch_reg_info(dev);
+	if (res == FREENECT_RESOLUTION_MEDIUM)
+		freenect_fetch_reg_info(dev);
 	return 0;
 }
 
diff --git a/src/cameras.h b/src/cameras.h
@@ -29,6 +29,8 @@
 
 #include "libfreenect.h"
 
+//#define NEAR_MODE
+
 // Just a couple function declarations.
 
 // These are called by core.c to do camera-specific initialization that needs
diff --git a/src/freenect_internal.h b/src/freenect_internal.h
@@ -117,6 +117,13 @@ static inline int32_t fn_le32s(int32_t s)
 #define PID_NUI_AUDIO 0x02ad
 #define PID_NUI_CAMERA 0x02ae
 #define PID_NUI_MOTOR 0x02b0
+#define PID_K4W_CAMERA 0x02bf
+#define PID_K4W_AUDIO 0x02be
+
+typedef enum {
+	HWREV_XBOX360_0 = 0,
+	HWREV_K4W_0 = 1,
+} hardware_revision;
 
 typedef struct {
 	int running;
@@ -188,6 +195,8 @@ struct _freenect_device {
 	freenect_device *next;
 	void *user_data;
 
+	hardware_revision hwrev;
+
 	// Cameras
 	fnusb_dev usb_cam;
 	fnusb_isoc_stream depth_isoc;
diff --git a/src/usb_libusb10.c b/src/usb_libusb10.c
@@ -48,7 +48,7 @@ int fnusb_num_devices(fnusb_ctx *ctx)
 		int r = libusb_get_device_descriptor (devs[i], &desc);
 		if (r < 0)
 			continue;
-		if (desc.idVendor == VID_MICROSOFT && desc.idProduct == PID_NUI_CAMERA)
+		if (desc.idVendor == VID_MICROSOFT && (desc.idProduct == PID_NUI_CAMERA || desc.idProduct == PID_K4W_CAMERA))
 			nr++;
 	}
 	libusb_free_device_list (devs, 1);
@@ -77,7 +77,7 @@ int fnusb_list_device_attributes(fnusb_ctx *ctx, struct freenect_device_attribut
 		int r = libusb_get_device_descriptor (devs[i], &desc);
 		if (r < 0)
 			continue;
-		if (desc.idVendor == VID_MICROSOFT && desc.idProduct == PID_NUI_CAMERA) {
+		if (desc.idVendor == VID_MICROSOFT && (desc.idProduct == PID_NUI_CAMERA || desc.idProduct == PID_K4W_CAMERA)) {
 			// Verify that a serial number exists to query.  If not, don't touch the device.
 			if (desc.iSerialNumber == 0) {
 				continue;
@@ -121,6 +121,7 @@ int fnusb_init(fnusb_ctx *ctx, freenect_usb_context *usb_ctx)
 	int res;
 	if (!usb_ctx) {
 		res = libusb_init(&ctx->ctx);
+		libusb_set_debug(ctx->ctx, 3);
 		if (res >= 0) {
 			ctx->should_free_ctx = 1;
 			return 0;
@@ -191,7 +192,7 @@ int fnusb_open_subdevices(freenect_device *dev, int index)
 			continue;
 
 		// Search for the camera
-		if ((ctx->enabled_subdevices & FREENECT_DEVICE_CAMERA) && !dev->usb_cam.dev && desc.idProduct == PID_NUI_CAMERA) {
+		if ((ctx->enabled_subdevices & FREENECT_DEVICE_CAMERA) && !dev->usb_cam.dev && (desc.idProduct == PID_NUI_CAMERA || desc.idProduct == PID_K4W_CAMERA)) {
 			// If the index given by the user matches our camera index
 			if (nr_cam == index) {
 				res = libusb_open (devs[i], &dev->usb_cam.dev);
@@ -220,13 +221,30 @@ int fnusb_open_subdevices(freenect_device *dev, int index)
 					dev->usb_cam.dev = NULL;
 					break;
 				}
+				if (desc.idProduct == PID_NUI_CAMERA) {
+					dev->hwrev = HWREV_XBOX360_0;
+					FN_SPEW("Opened Kinect for Xbox360 camera\n");
+				} else if (desc.idProduct == PID_K4W_CAMERA) {
+					dev->hwrev = HWREV_K4W_0;
+					FN_SPEW("Opened Kinect for Windows camera\n");
+					// Set alternate interface setting 1 to enable the two isochronous endpoints
+					res = libusb_set_interface_alt_setting(dev->usb_cam.dev, 0, 1);
+					if (res != 0) {
+						FN_ERROR("Failed to set alternate interface #1 for K4W: %d\n", res);
+						libusb_close(dev->usb_cam.dev);
+						dev->usb_cam.dev = NULL;
+						break;
+					}
+				} else {
+					FN_ERROR("Unknown hardware revision - fix fnusb_open_subdevices()\n");
+				}
 			} else {
 				nr_cam++;
 			}
 		}
 
 		// Search for the motor
-		if ((ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR) && !dev->usb_motor.dev && desc.idProduct == PID_NUI_MOTOR) {
+		if ((ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR) && !dev->usb_motor.dev && (desc.idProduct == PID_NUI_MOTOR)) {
 			// If the index given by the user matches our camera index
 			if (nr_mot == index) {
 				res = libusb_open (devs[i], &dev->usb_motor.dev);
@@ -250,7 +268,7 @@ int fnusb_open_subdevices(freenect_device *dev, int index)
 #ifdef BUILD_AUDIO
 		// TODO: check that the firmware has already been loaded; if not, upload firmware.
 		// Search for the audio
-		if ((ctx->enabled_subdevices & FREENECT_DEVICE_AUDIO) && !dev->usb_audio.dev && desc.idProduct == PID_NUI_AUDIO) {
+		if ((ctx->enabled_subdevices & FREENECT_DEVICE_AUDIO) && !dev->usb_audio.dev && (desc.idProduct == PID_NUI_AUDIO || desc.idProduct == PID_K4W_AUDIO)) {
 			// If the index given by the user matches our audio index
 			if (nr_audio == index) {
 				res = libusb_open (devs[i], &dev->usb_audio.dev);
@@ -306,7 +324,7 @@ int fnusb_open_subdevices(freenect_device *dev, int index)
 							if (r < 0)
 								continue;
 							// If this dev is a Kinect audio device, open device, read serial, and compare.
-							if (new_dev_desc.idVendor == VID_MICROSOFT && new_dev_desc.idProduct == PID_NUI_AUDIO) {
+							if (new_dev_desc.idVendor == VID_MICROSOFT && (new_dev_desc.idProduct == PID_NUI_AUDIO || new_dev_desc.idProduct == PID_K4W_AUDIO)) {
 								FN_SPEW("Matched VID/PID!\n");
 								libusb_device_handle* new_dev_handle;
 								// Open device
