Merge commit 'v0.2.0-15-g6198bcd' (dfsg branch) into debian

* commit 'v0.2.0-15-g6198bcd': (36 commits) Update CONTRIB for v0.2.0 Update CMake version for v0.2.0 Kinect for Windows and Xbox 360 Model 1473 support Changed all GL-related INCLUDE_DIRS to INCLUDE_DIR Fixes OpenKinect#320 as3-bom: Support uncompressed depth camera-flags: added depth and video mirror camera-flags: initial commit Fixed fprintf format warnings Removed Formula now in homebrew Library Added Kinect for Windows udev rules Removed unused stdbool.h Replaced all include guards with '#pragma once' - fixes OpenKinect#296 Removed libusb patch already merged upstream handle error case on USB 3.0: control transfer may return 512 bytes FrameMode now implements getFieldOrder() to be compatible with new versions of jna. Signed-off-by: John Scheible johnscheible@gmail.com Adding to C++ wrapper a method to access the underlying freenect_device Signed-off-by: Joseph J Dillon <joe.robotics@hotmail.com> josephd Added missing dependencies examples: GLUT_INCLUDE_DIRS -> GLUT_INCLUDE_DIR wavrecord.c: initialize sample count to 0 audio firmware loader: use the structure of the firmware image format to specify size/addresses freenect.pyx: add FREENECT_DEPTH_{MM,REGISTERED} support ...
yarikoptic · Sep 21, 2013 · acb82f5 · acb82f5
2 parents 5678ee6 + 6198bcd
commit acb82f5
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -41,8 +41,8 @@ cmake_minimum_required(VERSION 2.6)
 PROJECT(libfreenect)
 
 set (PROJECT_VER_MAJOR 0)
-set (PROJECT_VER_MINOR 1)
-set (PROJECT_VER_PATCH 2)
+set (PROJECT_VER_MINOR 2)
+set (PROJECT_VER_PATCH 0)
 set (PROJECT_VER 
   "${PROJECT_VER_MAJOR}.${PROJECT_VER_MINOR}.${PROJECT_VER_PATCH}")
 set (PROJECT_APIVER 
@@ -86,6 +86,12 @@ if(BUILD_AUDIO)
   add_definitions(-DBUILD_AUDIO)
 endif()
 
+if (WIN32)
+   set(MATH_LIB "")
+else(WIN32)
+  set(MATH_LIB "m")
+endif()
+
 ######################################################################################
 # CMake 
 ######################################################################################
@@ -112,7 +118,7 @@ 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")
+  include_directories("${CMAKE_CURRENT_SOURCE_DIR}/platform/windows/libusb10emu/libusb-1.0")
 endif()
 
 # Add library project

diff --git a/CONTRIB b/CONTRIB
@@ -5,6 +5,8 @@ Alex Weiss <algrs@cacography.net>
 Andrew <amiller@dappervision.com>
 Antonio Ospite <ospite@studenti.unina.it>
 arnebe <arne@alamut.de>
+Benn Snyder <benn.snyder@gmail.com>
+Ben Stolovitz <ben@stolovitz.com>
 Brandyn A. White <bwhite@dappervision.com>
 Chris J (cryptk) <cryptk@gmail.com>
 David García Garzón <david.garcia@barcelonamedia.org>
@@ -18,7 +20,10 @@ Francois Coulombe <fcoulombe@silentfalls.org>
 Gabor Szarka <szarkagabor@coralworks.hu>
 Hector Martin <hector@marcansoft.com>
 James Harris <jimmy@jamesharris.org>
+Joakim Gebart <joakim.gebart@jge.se>
 Jochen Kerdels <jochen@kerdels.de>
+John Scheible <JohnScheible@gmail.com>
+josephd <joe@w00t42.net>
 Josh Grunzweig <jgrunzweig@gizmotron.local>
 Joshua Blake <joshblake@gmail.com>
 Juan Carlos del Valle <jc.ekinox@gmail.com>
@@ -30,6 +35,7 @@ Kyle Machulis <kyle@nonpolynomial.com>
 Marcos Paulo Berteli Slomp <mslomp@gmail.com>
 Mark Renouf <mark.renouf@gmail.com>
 Melonee Wise <mwise@willowgarage.com>
+Nicolas Bourdaud <nicolas.bourdaud@gmail.com>
 Peter Kropf <pkropf@gmail.com>
 Radu Bogdan Rusu <rusu@cs.tum.edu>
 Rich Mattes <jpgr87@gmail.com>
@@ -42,4 +48,5 @@ Thomas Roefer <Thomas.Roefer@dfki.de>
 Tim Niemueller <niemueller@kbsg.rwth-aachen.de>
 Tully Foote <tfoote@willowgarage.com>
 Vincent Le Ligeour <yoda-jm@users.sourceforge.net>
+Yannis Gravezas <wizgrav@gmail.com>
 Yaroslav Halchenko <debian@onerussian.com>
diff --git a/README.asciidoc b/README.asciidoc
@@ -43,7 +43,7 @@ http://twitter.com/openkinect
 
 For the driver, you'll need
 
-- libusb-1.0 >= 1.0.3 (*nix and OS X)
+- libusb-1.0 >= 1.0.9 (*nix and OS X)
 - libusb-win32 (Windows)
 - Cmake >= 2.6 (All platforms)
 
@@ -73,33 +73,9 @@ To use CMake:
 
 ==== OS X
 
-NOTE: AS OF 2010-11-16, WE HAVE UPDATED THIS PATCH. IF YOU HAVE
-ALREADY PATCHED, PLEASE REPATCH AND REINSTALL LIBUSB TO GET OS X
-WORKING AT FULL 30FPS.
-
-You will need to pull the matching version of libusb for this
-patch. This is NOT v1.0.8, this is a change based off the repo head as
-of 2010-10-16. To get a tar.gz with the snapshot of the repo at this
-point, hit the link below.
-
-http://git.libusb.org/?p=libusb.git;a=snapshot;h=7da756e09fd97efad2b35b5cee0e2b2550aac2cb;sf=tgz;js=1
-
-Once you've gotten that tarball and unziped it somewhere, patch using
-the files in platform/osx/. Just go to the root directory of the
-libusb source and run
-
-patch -p1 < [path_to_OpenKinectRepo]/platform/osx/libusb-osx-kinect.diff
-
-You need to tell configure to include some necessary frameworks:
-./configure LDFLAGS='-framework IOKit -framework CoreFoundation'
-
-Recompile libusb and put it wherever CMake will look (/usr/local/lib,
-/usr/lib, etc...). If you're using a package manager like fink,
-macports, or homebrew, I'm going to expect you know what your doing
-and can deal with this. If not, see IRC channel.
-
-OpenGL and GLUT come as prebuilt frameworks with OS X, so that should
-do it for requirements.
+libusb is available through various package managers 
+including homebrew and Macports.
+OpenGL and GLUT come as prebuilt frameworks.
 
 ==== Linux
 
@@ -128,9 +104,10 @@ libfreenect has interface to several languages. Look in the wrappers/
 directory for them:
 
 - C (using a synchronous API)
+- C++
+- C#
 - python
 - actionscript
-- C#
 - Java (JNA)
 
 === Licensing

diff --git a/cmake_modules/Findlibusb-1.0.cmake b/cmake_modules/Findlibusb-1.0.cmake
@@ -49,7 +49,7 @@ if (LIBUSB_1_LIBRARIES AND LIBUSB_1_INCLUDE_DIRS)
 else (LIBUSB_1_LIBRARIES AND LIBUSB_1_INCLUDE_DIRS)
   find_path(LIBUSB_1_INCLUDE_DIR
     NAMES
-	libusb-1.0/libusb.h
+	libusb.h
     PATHS
       /usr/include
       /usr/local/include
@@ -61,7 +61,7 @@ else (LIBUSB_1_LIBRARIES AND LIBUSB_1_INCLUDE_DIRS)
 
   find_library(LIBUSB_1_LIBRARY
     NAMES
-      usb-1.0
+      usb-1.0 usb
     PATHS
       /usr/lib
       /usr/local/lib
@@ -95,4 +95,4 @@ else (LIBUSB_1_LIBRARIES AND LIBUSB_1_INCLUDE_DIRS)
   # show the LIBUSB_1_INCLUDE_DIRS and LIBUSB_1_LIBRARIES variables only in the advanced view
   mark_as_advanced(LIBUSB_1_INCLUDE_DIRS LIBUSB_1_LIBRARIES)
 
-endif (LIBUSB_1_LIBRARIES AND LIBUSB_1_INCLUDE_DIRS)
+endif (LIBUSB_1_LIBRARIES AND LIBUSB_1_INCLUDE_DIRS)
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -56,13 +56,7 @@ else()
   find_package(OpenGL REQUIRED)
   find_package(GLUT REQUIRED)
 
-  include_directories(${OPENGL_INCLUDE_DIRS} ${GLUT_INCLUDE_DIRS} ${USB_INCLUDE_DIRS})
-
-  if (WIN32)
-    set(MATH_LIB "")
-  else(WIN32)
-    set(MATH_LIB "m")
-  endif()
+  include_directories(${OPENGL_INCLUDE_DIR} ${GLUT_INCLUDE_DIR} ${USB_INCLUDE_DIRS})
 
   target_link_libraries(glview 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})

diff --git a/examples/glview.c b/examples/glview.c
@@ -179,6 +179,27 @@ void keyPressed(unsigned char key, int x, int y)
 			freenect_angle = -30;
 		}
 	}
+	if (key == 'e') {
+		static freenect_flag_value auto_exposure = FREENECT_ON;
+		freenect_set_flag(f_dev, FREENECT_AUTO_EXPOSURE, auto_exposure);
+		auto_exposure = !auto_exposure;
+	}
+	if (key == 'b') {
+		static freenect_flag_value white_balance = FREENECT_ON;
+		freenect_set_flag(f_dev, FREENECT_AUTO_WHITE_BALANCE, white_balance);
+		white_balance = !white_balance;
+	}
+	if (key == 'r') {
+		static freenect_flag_value raw_color = FREENECT_ON;
+		freenect_set_flag(f_dev, FREENECT_RAW_COLOR, raw_color);
+		raw_color = !raw_color;
+	}
+	if (key == 'm') {
+		static freenect_flag_value mirror = FREENECT_ON;
+		freenect_set_flag(f_dev, FREENECT_MIRROR_DEPTH, mirror);
+		freenect_set_flag(f_dev, FREENECT_MIRROR_VIDEO, mirror);
+		mirror = !mirror;
+	}
 	if (key == '1') {
 		freenect_set_led(f_dev,LED_GREEN);
 	}
@@ -349,6 +370,7 @@ void *freenect_threadfunc(void *arg)
 	freenect_start_video(f_dev);
 
 	printf("'w'-tilt up, 's'-level, 'x'-tilt down, '0'-'6'-select LED mode, 'f'-video format\n");
+	printf("'e' - auto exposure, 'b' - white balance, 'r' - raw color, 'm' - mirror\n");
 
 	while (!die && freenect_process_events(f_ctx) >= 0) {
 		//Throttle the text output
@@ -421,17 +443,21 @@ int main(int argc, char **argv)
 	if (argc > 1)
 		user_device_number = atoi(argv[1]);
 
-	if (nr_devices < 1)
+	if (nr_devices < 1) {
+		freenect_shutdown(f_ctx);
 		return 1;
+	}
 
 	if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
 		printf("Could not open device\n");
+		freenect_shutdown(f_ctx);
 		return 1;
 	}
 
 	res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
 	if (res) {
 		printf("pthread_create failed\n");
+		freenect_shutdown(f_ctx);
 		return 1;
 	}
 

diff --git a/examples/hiview.c b/examples/hiview.c
@@ -445,17 +445,21 @@ int main(int argc, char **argv)
 	if (argc > 1)
 		user_device_number = atoi(argv[1]);
 
-	if (nr_devices < 1)
+	if (nr_devices < 1) {
+		freenect_shutdown(f_ctx);
 		return 1;
+	}
 
 	if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
 		printf("Could not open device\n");
+		freenect_shutdown(f_ctx);
 		return 1;
 	}
 
 	res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
 	if (res) {
 		printf("pthread_create failed\n");
+		freenect_shutdown(f_ctx);
 		return 1;
 	}
 

diff --git a/examples/micview.c b/examples/micview.c
@@ -161,12 +161,15 @@ int main(int argc, char** argv) {
 
 	int nr_devices = freenect_num_devices (f_ctx);
 	printf ("Number of devices found: %d\n", nr_devices);
-	if (nr_devices < 1)
+	if (nr_devices < 1) {
+		freenect_shutdown(f_ctx);
 		return 1;
+	}
 
 	int user_device_number = 0;
 	if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
 		printf("Could not open device\n");
+		freenect_shutdown(f_ctx);
 		return 1;
 	}
 
@@ -188,6 +191,7 @@ int main(int argc, char** argv) {
 	int res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
 	if (res) {
 		printf("pthread_create failed\n");
+		freenect_shutdown(f_ctx);
 		return 1;
 	}
 	printf("This is the libfreenect microphone waveform viewer.  Press 'q' to quit or spacebar to pause/unpause the view.\n");

diff --git a/examples/regtest.c b/examples/regtest.c
@@ -43,13 +43,13 @@ FILE *open_dump(const char *filename)
 
 void dump_depth(FILE *fp, void *data, unsigned int width, unsigned int height)
 {
-	fprintf(fp, "P5 %d %d 65535\n", width, height);
+	fprintf(fp, "P5 %u %u 65535\n", width, height);
 	fwrite(data, width * height * 2, 1, fp);
 }
 
 void dump_rgb(FILE *fp, void *data, unsigned int width, unsigned int height)
 {
-	fprintf(fp, "P6 %d %d 255\n", width, height);
+	fprintf(fp, "P6 %u %u 255\n", width, height);
 	fwrite(data, width * height * 3, 1, fp);
 }
 

diff --git a/examples/regview.c b/examples/regview.c
@@ -363,17 +363,21 @@ int main(int argc, char **argv)
 	if (argc > 1)
 		user_device_number = atoi(argv[1]);
 
-	if (nr_devices < 1)
+	if (nr_devices < 1) {
+		freenect_shutdown(f_ctx);
 		return 1;
+	}
 
 	if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
 		printf("Could not open device\n");
+		freenect_shutdown(f_ctx);
 		return 1;
 	}
 
 	res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
 	if (res) {
 		printf("pthread_create failed\n");
+		freenect_shutdown(f_ctx);
 		return 1;
 	}
 

diff --git a/examples/wavrecord.c b/examples/wavrecord.c
@@ -80,16 +80,20 @@ int main(int argc, char** argv) {
 
 	int nr_devices = freenect_num_devices (f_ctx);
 	printf ("Number of devices found: %d\n", nr_devices);
-	if (nr_devices < 1)
+	if (nr_devices < 1) {
+		freenect_shutdown(f_ctx);
 		return 1;
+	}
 
 	int user_device_number = 0;
 	if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
 		printf("Could not open device\n");
+		freenect_shutdown(f_ctx);
 		return 1;
 	}
 
 	capture state;
+	state.samples = 0;
 	state.logfiles[0] = fopen("channel1.wav", "wb");
 	state.logfiles[1] = fopen("channel2.wav", "wb");
 	state.logfiles[2] = fopen("channel3.wav", "wb");
@@ -135,5 +139,6 @@ int main(int argc, char** argv) {
 		fclose(state.logfiles[i]);
 	}
 
+	freenect_shutdown(f_ctx);
 	return 0;
 }
diff --git a/fakenect/CMakeLists.txt b/fakenect/CMakeLists.txt
@@ -8,12 +8,13 @@ set_target_properties ( fakenect PROPERTIES
   VERSION ${PROJECT_VER}
   SOVERSION ${PROJECT_APIVER}
   OUTPUT_NAME freenect)
+target_link_libraries(fakenect ${MATH_LIB})
 
 install (TARGETS fakenect
   DESTINATION "${PROJECT_LIBRARY_INSTALL_DIR}/fakenect")
 
 add_executable(record record.c)
-target_link_libraries(record freenect m)
+target_link_libraries(record freenect)
 install (TARGETS record
   DESTINATION bin)