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Changed the names of the modified functions, and added wrapper functi…
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…ons (under original names) that maintain backwards compatibilty, and functionality

Signed-off-by: Thomas Dunne <thomasdunne999@gmail.com>
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@mcteo
mcteo authored and mcteo committed Aug 2, 2012
1 parent ae32bfb commit 36eae29
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Showing 4 changed files with 56 additions and 18 deletions.
4 changes: 2 additions & 2 deletions examples/glpclview.c
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Original file line number Diff line number Diff line change
Expand Up @@ -117,9 +117,9 @@ void DrawGLScene()
short *depth = 0;
char *rgb = 0;
uint32_t ts;
if (freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT) < 0)
if (freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_DEPTH_11BIT) < 0)
no_kinect_quit();
if (freenect_sync_get_video((void**)&rgb, &ts, 0, FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB) < 0)
if (freenect_sync_get_video((void**)&rgb, &ts, 0, FREENECT_VIDEO_RGB) < 0)
no_kinect_quit();

static unsigned int indices[480][640];
Expand Down
8 changes: 4 additions & 4 deletions examples/regtest.c
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Original file line number Diff line number Diff line change
Expand Up @@ -67,31 +67,31 @@ int main(void)
FILE *fp;
int ret;

ret = freenect_sync_get_video((void**)&rgb, &ts, 0, FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB);
ret = freenect_sync_get_video((void**)&rgb, &ts, 0, FREENECT_VIDEO_RGB);
if (ret < 0)
no_kinect_quit();

fp = open_dump("registration_test_rgb.ppm");
dump_rgb(fp, rgb, 640, 480);
fclose(fp);

ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT);
ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_DEPTH_11BIT);
if (ret < 0)
no_kinect_quit();

fp = open_dump("registration_test_depth_raw.pgm");
dump_depth(fp, depth, 640, 480);
fclose(fp);

ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_REGISTERED);
ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_DEPTH_REGISTERED);
if (ret < 0)
no_kinect_quit();

fp = open_dump("registration_test_depth_registered.pgm");
dump_depth(fp, depth, 640, 480);
fclose(fp);

ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_MM);
ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_DEPTH_MM);
if (ret < 0)
no_kinect_quit();

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44 changes: 34 additions & 10 deletions wrappers/c_sync/libfreenect_sync.c
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Original file line number Diff line number Diff line change
Expand Up @@ -221,7 +221,7 @@ static void init_thread(void)
pthread_create(&thread, NULL, init, NULL);
}

static int change_video_format(sync_kinect_t *kinect, freenect_resolution res, freenect_video_format fmt)
static int change_video_format_with_res(sync_kinect_t *kinect, freenect_resolution res, freenect_video_format fmt)
{
freenect_stop_video(kinect->dev);
free_buffer_ring(&kinect->video);
Expand All @@ -233,7 +233,12 @@ static int change_video_format(sync_kinect_t *kinect, freenect_resolution res, f
return 0;
}

static int change_depth_format(sync_kinect_t *kinect, freenect_resolution res, freenect_depth_format fmt)
static int change_video_format(sync_kinect_t *kinect, freenect_resolution res, freenect_video_format fmt)
{
return change_video_format_with_res(kinect, FREENECT_RESOLUTION_MEDIUM, fmt);
}

static int change_depth_format_with_res(sync_kinect_t *kinect, freenect_resolution res, freenect_depth_format fmt)
{
freenect_stop_depth(kinect->dev);
free_buffer_ring(&kinect->depth);
Expand All @@ -245,6 +250,11 @@ static int change_depth_format(sync_kinect_t *kinect, freenect_resolution res, f
return 0;
}

static int change_depth_format(sync_kinect_t *kinect, freenect_resolution res, freenect_depth_format fmt)
{
return change_depth_format_with_res(kinect, FREENECT_RESOLUTION_MEDIUM, fmt);
}

static sync_kinect_t *alloc_kinect(int index)
{
sync_kinect_t *kinect = (sync_kinect_t*)malloc(sizeof(sync_kinect_t));
Expand All @@ -270,7 +280,7 @@ static sync_kinect_t *alloc_kinect(int index)
return kinect;
}

static int setup_kinect(int index, int res, int fmt, int is_depth)
static int setup_kinect_with_res(int index, int res, int fmt, int is_depth)
{
pending_runloop_tasks_inc();
pthread_mutex_lock(&runloop_lock);
Expand Down Expand Up @@ -303,16 +313,20 @@ static int setup_kinect(int index, int res, int fmt, int is_depth)
pthread_mutex_lock(&buf->lock);
if ((buf->fmt != fmt) || (buf->res != res)) {
if (is_depth)
change_depth_format(kinects[index], (freenect_resolution)res, (freenect_depth_format)fmt);
change_depth_format_with_res(kinects[index], (freenect_resolution)res, (freenect_depth_format)fmt);
else
change_video_format(kinects[index], (freenect_resolution)res, (freenect_video_format)fmt);
change_video_format_with_res(kinects[index], (freenect_resolution)res, (freenect_video_format)fmt);
}
pthread_mutex_unlock(&buf->lock);
pthread_mutex_unlock(&runloop_lock);
pending_runloop_tasks_dec();
return 0;
}

static int setup_kinect(int index, int fmt, int is_depth) {
return setup_kinect_with_res(index, FREENECT_RESOLUTION_MEDIUM, fmt, is_depth);
}

static int sync_get(void **data, uint32_t *timestamp, buffer_ring_t *buf)
{
pthread_mutex_lock(&buf->lock);
Expand Down Expand Up @@ -345,7 +359,7 @@ static int runloop_enter(int index)
return -1;
}
if (!thread_running || !kinects[index])
if (setup_kinect(index, FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT, 1))
if (setup_kinect_with_res(index, FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT, 1))
return -1;

pending_runloop_tasks_inc();
Expand All @@ -359,7 +373,7 @@ static void runloop_exit()
pending_runloop_tasks_dec();
}

int freenect_sync_get_video(void **video, uint32_t *timestamp, int index,
int freenect_sync_get_video_with_res(void **video, uint32_t *timestamp, int index,
freenect_resolution res, freenect_video_format fmt)
{
if (index < 0 || index >= MAX_KINECTS) {
Expand All @@ -368,13 +382,18 @@ int freenect_sync_get_video(void **video, uint32_t *timestamp, int index,
}
if (!thread_running || !kinects[index] || kinects[index]->video.fmt != fmt
|| kinects[index]->video.res != res)
if (setup_kinect(index, res, fmt, 0))
if (setup_kinect_with_res(index, res, fmt, 0))
return -1;
sync_get(video, timestamp, &kinects[index]->video);
return 0;
}

int freenect_sync_get_depth(void **depth, uint32_t *timestamp, int index,
int freenect_sync_get_video(void **video, uint32_t *timestamp, int index, freenect_video_format fmt)
{
return freenect_sync_get_video_with_res(video, timestamp, index, FREENECT_RESOLUTION_MEDIUM, fmt);
}

int freenect_sync_get_depth_with_res(void **depth, uint32_t *timestamp, int index,
freenect_resolution res, freenect_depth_format fmt)
{
if (index < 0 || index >= MAX_KINECTS) {
Expand All @@ -383,12 +402,17 @@ int freenect_sync_get_depth(void **depth, uint32_t *timestamp, int index,
}
if (!thread_running || !kinects[index] || kinects[index]->depth.fmt != fmt
|| kinects[index]->depth.res != res)
if (setup_kinect(index, res, fmt, 1))
if (setup_kinect_with_res(index, res, fmt, 1))
return -1;
sync_get(depth, timestamp, &kinects[index]->depth);
return 0;
}

int freenect_sync_get_depth(void **depth, uint32_t *timestamp, int index, freenect_depth_format fmt)
{
return freenect_sync_get_depth_with_res(depth, timestamp, index, FREENECT_RESOLUTION_MEDIUM, fmt);
}

int freenect_sync_get_tilt_state(freenect_raw_tilt_state **state, int index)
{
if (runloop_enter(index)) return -1;
Expand Down
18 changes: 16 additions & 2 deletions wrappers/c_sync/libfreenect_sync.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@
extern "C" {
#endif

int freenect_sync_get_video(void **video, uint32_t *timestamp, int index,
int freenect_sync_get_video_with_res(void **video, uint32_t *timestamp, int index,
freenect_resolution res, freenect_video_format fmt);
/* Synchronous video function, starts the runloop if it isn't running
Expand All @@ -44,13 +44,20 @@ int freenect_sync_get_video(void **video, uint32_t *timestamp, int index,
video: Populated with a pointer to a video buffer with a size of the requested type
timestamp: Populated with the associated timestamp
index: Device index (0 is the first)
res: Valid resolution
fmt: Valid format
Returns:
Nonzero on error.
*/

int freenect_sync_get_depth(void **depth, uint32_t *timestamp, int index,
int freenect_sync_get_video(void **video, uint32_t *timestamp, int index, freenect_video_format fmt);
/* Does the exact same as above, but with a default resolution,
so backwards compatibilty is maintained.
The Resolution is kept at the default FREENECT_RESOLUTION_MEDIUM
*/

int freenect_sync_get_depth_with_res(void **depth, uint32_t *timestamp, int index,
freenect_resolution res, freenect_depth_format fmt);
/* Synchronous depth function, starts the runloop if it isn't running
Expand All @@ -61,12 +68,19 @@ int freenect_sync_get_depth(void **depth, uint32_t *timestamp, int index,
depth: Populated with a pointer to a depth buffer with a size of the requested type
timestamp: Populated with the associated timestamp
index: Device index (0 is the first)
res: Valid resolution
fmt: Valid format
Returns:
Nonzero on error.
*/

int freenect_sync_get_depth(void **depth, uint32_t *timestamp, int index, freenect_depth_format fmt);
/* Again, a wrapper function to keep backward compatibility.
The Resolution is kept at the default FREENECT_RESOLUTION_MEDIUM
*/

int freenect_sync_set_tilt_degs(int angle, int index);
/* Tilt function, starts the runloop if it isn't running
Expand Down

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