Feature: k4w/1473 added tilt, led, accel and OS X freeze fix

[ofTheo]

• Supports loading audio fw from memory as well as disk.
• Supports tilt, accel and led for K4W and 1473 device.
• Improved keep alive for K4W and 1473. ( Issues Support for model 1473 on OS X #340 Add support for Kinect for Xbox 360 Model 1473 #316 )
• Added more K4W audio PIDs to reflect different PIDs produced by beta and final SDKs

Tested with both K4W and 1473 devices.
Needs testing on Windows and Nix

NOTE:

• for tilt, led, accel on K4W you need to extract the firmware from the latest SDK ( v1.8 ) which is now an exe, so harder to unpack. The firmware extracted by the current script, does not support motor controls.
• for tilt, led, accel on 1473 you need to extract the audios.bin firmware from the Dec 2013 Xbox System Update SystemUpdate_16547_USB.zip, using py360
• OR: you can get the fw for both ( slightly modified to be different but still work ) as a function call here: /~https://github.com/openframeworks/openFrameworks/blob/feature-kinect1473-support/addons/ofxKinect/src/extra/ofxKinectExtras.cpp . With this approach you can use the new firmware from memory functions in loader.c

pinging @zarvox @JoshBlake @zarvox

Signed-off-by: Theodore Watson theo@openframeworks.cc (ofTheo)

[piedar]

👍
I can't really test this without a K4W, but the code looks good. If there no objections, I will merge it soon.

[spie0092]

Hey Theo. Thanks for all of your work on this. I have tried to get this to work every which way, with no luck... upon the make command, it builds about 25%, then I get this error:

Linking C shared library ../lib/libfreenect.dylib
Undefined symbols for architecture x86_64:
  "_freenect_extra_keep_alive", referenced from:
      _fnusb_open_subdevices in usb_libusb10.c.o
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [lib/libfreenect.0.3.0.dylib] Error 1
make[1]: *** [src/CMakeFiles/freenect.dir/all] Error 2
make: *** [all] Error 2

Any suggestions? Same error on two different machines:

Macbook Pro (15-inch, Mid 2010)

• OSX 10.9
• 2.66 GHz Intel Core i7
• 8 GB 1067 DDR3
• NVIDIA GeForce GT 330M 512 MB

Macbook Pro (Retina, 15-inch, Late 2013)

• OSX 10.9.1
• 2.6 GHz Intel Core i7
• 16GB 1600 MHz DDR3
• NVIDIA GeForce GT 750M 2048 MB

[ofTheo]

Need to add keep_alive.c to your build. It looks like it's not being added.
:)

Sent from my iPhone

On Feb 4, 2014, at 11:08 AM, spie0092 notifications@github.com wrote:

Hey Theo. Thanks for all of your work on this. I have tried to get this to work every which way, with no luck... upon the make command, it builds about 25%, then I get this error:

Linking C shared library ../lib/libfreenect.dylib
Undefined symbols for architecture x86_64:
"_freenect_extra_keep_alive", referenced from:
_fnusb_open_subdevices in usb_libusb10.c.o
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [lib/libfreenect.0.3.0.dylib] Error 1
make[1]: *** [src/CMakeFiles/freenect.dir/all] Error 2
make: *** [all] Error 2
Any suggestions? Same error on two different machines:

Macbook Pro (15-inch, Mid 2010)

OSX 10.9
2.66 GHz Intel Core i7
8 GB 1067 DDR3
NVIDIA GeForce GT 330M 512 MB
Macbook Pro (Retina, 15-inch, Late 2013)

OSX 10.9.1
2.6 GHz Intel Core i7
16GB 1600 MHz DDR3
NVIDIA GeForce GT 750M 2048 MB
—
Reply to this email directly or view it on GitHub.

[spie0092]

I do have it included in the "src" folder, of the main root (I downloaded your "feature-k4w..." repository and am building from that). Do I need to manually place it in the build folder as well?

Sorry for my unintelligent line of questioning. I am new to this, and it's been quite a struggle...

[ofTheo]

It might be that you need to add the files to the cmake build files.

I don't have a lot of experience with cmake, hence why I didn't make changes in this pr.

Looks like editing CMakeLists.txt in src/ will so the trick. Adding keep_alive.c after core.c in both places.

I can update this PR later with these changes but it should be easy enough to do.

Sent from my iPhone

On Feb 4, 2014, at 11:39 AM, spie0092 notifications@github.com wrote:

I do have it included in the "src" folder, of the main root (I downloaded your "feature-k4w..." repository and am building from that). Do I need to manually place it in the build folder as well?

Sorry for my unintelligent line of questioning. I am new to this, and it's been quite a struggle...

—
Reply to this email directly or view it on GitHub.

[spie0092]

Thanks! I will test it out. I really appreciate your help!

[spie0092]

Worked like a charm! One note, from my configurations, for the "ccmake .." setup, I needed to change all references to "/usr/" to "/opt/".

THANK YOU!

[piedar]

@ofTheo I will update src/CMakeLists.txt when I merge this.

[ofTheo]

thanks @piedar - sounds good!

[MohitShridhar]

Hi Theo! I have been trying to get 1473's tilt/accel/led working on OSX 10.9.
But when I run tiltdemo, none of these seem to work.

I get this:

led[3] tilt[9] accel[0.000000,0.000000,0.000000]
led[0] tilt[-9] accel[0.000000,0.000000,0.000000]
led[0] tilt[1] accel[0.000000,0.000000,0.000000]
led[4] tilt[-13] accel[0.000000,0.000000,0.000000]
led[4] tilt[-13] accel[0.000000,0.000000,0.000000]
led[1] tilt[7] accel[0.000000,0.000000,0.000000]

with no change in physical tilt/accel data/led status.

While building libfreenect, I used cmake -BUILD_AUDIO=ON .., and I could see that audio.bin was downloaded and placed in /usr/local/share/libfreenect/. Have I missed anything?
I tried micview; I can see the waveforms produced by the microphone array. So it seems like the audio.bin firmware has been installed properly. Or has it?!

Thanks for the help!

[ofTheo]

hi @TihomRis
for 1473 you need a newer firmware blob than the one that used to be provided by the script.

for tilt, led, accel on 1473 you need to extract the audios.bin firmware from the Dec 2013 Xbox System Update SystemUpdate_16547_USB.zip, using py360

you are probably using the older audios.bin which does audio but does not enable tilt or accel controls

[MohitShridhar]

Wow! That did the trick! I have been looking forward to this feature for a long time! Thanks a lot!

[piedar]

How is that done with py360? Is the newer firmware compatible with original Kinect? I would like to either update fwfetcher.py or replace it with py360 to use the newer firmware by default.

[hkhpeter]

I'm using 1473 on Ubuntu12.04, and it's working great now, thanks. But before all things work out the following have to be done.

1. upload_firmware() in loader.c was causing troubles. When running some of the examples after installing, "Segmentation fault" occurred after case 3 inside the for loop for file search. I had to remove the entire for loop and write the path to audios.bin manually instead. The path for my computer is /usr/local/share/libfreenect/audios.bin.
2. Not knowing how to use py360, I had to use ofxKinectExtras for the firmware as suggested by the NOTE. I tried to include the firmware as a function call, but to no avail. I at the end wrote the firmware to an audios.bin file and put it inside the build directory.
3. Comment out the command to run fwfetcher.py in CMakeLists.txt in src. The python file is to write audios.bin for k4w. This is not needed and this would have overwritten the audios.bin in 2.
4. Install libfreenect with BUILDAUDIO on, then things should work out.

[MohitShridhar]

I ended up using extract360.py to get it working. Followed this guide.

After extracting audios.bin from SystemUpdate_16547_USB.zip (just googled it), I manually placed it in the build directory. And then built libfreenect with BUILD_AUDIO.

I have tried the build on both 1473 and 1414. So far, it works great!

[libasoles]

Hi @hkhpeter . Glad to know it works for you. I'm eager to make it work for me. I tried to figure out how to include ofxKinectExtras but with no luck. So I want to compile the code as you did.

As I'm not a c/c++ developer I must ask for help on this. How can I compile the audios.bin? I'm trying this but the "unsigned char" seems to be cut to just 64 B.

#include
#include "ofxKinectExtras.cpp"

int main()
{
size_t data_size = sizeof(&fwk4wBin[0]);
std::ofstream ofile("audios.bin", std::ios::binary);

for(int x=0; x<data_size; x++)
{
  ofile.write((char *)&fwk4wBin[0], data_size);
}

}