Add support for enabling near mode with new K4W.

Thanks to dxli and nneonneo for their initial work on this: OpenKinect#274 Signed-off-by: Rene Wagner <rwagner@informatik.uni-bremen.de>
renewagner · Mar 26, 2012 · 34f4c1a · 34f4c1a
1 parent 2f02393
commit 34f4c1a
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Showing 3 changed files with 57 additions and 1 deletion.
diff --git a/examples/glview.c b/examples/glview.c
@@ -74,6 +74,9 @@ freenect_video_format current_format = FREENECT_VIDEO_RGB;
 freenect_smoothing_mode requested_smoothing = FREENECT_SMOOTHING_HOLE_FILLING_DEPTH_SMOOTHING_ENABLED;
 freenect_smoothing_mode current_smoothing = FREENECT_SMOOTHING_HOLE_FILLING_DEPTH_SMOOTHING_ENABLED;
 
+freenect_range_mode requested_range = FREENECT_RANGE_DEFAULT;
+freenect_range_mode current_range = FREENECT_RANGE_DEFAULT;
+
 pthread_cond_t gl_frame_cond = PTHREAD_COND_INITIALIZER;
 int got_rgb = 0;
 int got_depth = 0;
@@ -187,6 +190,12 @@ void keyPressed(unsigned char key, int x, int y)
 		else
 			requested_smoothing = FREENECT_SMOOTHING_DISABLED;
 	}
+	if (key == 'n') {
+		if (requested_range == FREENECT_RANGE_DEFAULT)
+			requested_range = FREENECT_RANGE_NEAR_MODE;
+		else
+			requested_range = FREENECT_RANGE_DEFAULT;
+	}
 }
 
 void ReSizeGLScene(int Width, int Height)
@@ -340,6 +349,10 @@ void *freenect_threadfunc(void *arg)
 			freenect_set_smoothing_mode(f_dev, requested_smoothing);
 			current_smoothing = requested_smoothing;
 		}
+		if (requested_range != current_range){
+			freenect_set_range_mode(f_dev, requested_range);
+			current_range = requested_range;
+		}
 	}
 
 	printf("\nshutting down streams...\n");

diff --git a/include/libfreenect.h b/include/libfreenect.h
@@ -133,6 +133,12 @@ typedef enum {
 	FREENECT_SMOOTHING_HOLE_FILLING_DEPTH_SMOOTHING_ENABLED = 1,
 } freenect_smoothing_mode;
 
+/// Enumeration of range modes
+typedef enum {
+	FREENECT_RANGE_DEFAULT   = 0, /**< default range */
+	FREENECT_RANGE_NEAR_MODE = 1, /**< near mode. Supported by Kinect for Windows only */
+} freenect_range_mode;
+
 /// Enumeration of LED states
 /// See http://openkinect.org/wiki/Protocol_Documentation#Setting_LED for more information.
 typedef enum {
@@ -630,7 +636,19 @@ FREENECTAPI int freenect_set_depth_mode(freenect_device* dev, const freenect_fra
  * @return 0 on success, < 0 on error
  */
 FREENECTAPI int freenect_set_smoothing_mode(freenect_device* dev, const freenect_smoothing_mode mode);
-
+
+/**
+ * Set the range mode. The near mode introduced with the Kinect for
+ * Windows device allows the sensor to see objects closer to it. The
+ * depth stream must be active as this appears to be reset when it is
+ * started.
+ *
+ * @param mode New range mode
+ *
+ * @return 0 on success, < 0 on error
+ */
+FREENECTAPI int freenect_set_range_mode(freenect_device* dev, const freenect_range_mode mode);
+
 #ifdef __cplusplus
 }
 #endif

diff --git a/src/cameras.c b/src/cameras.c
@@ -1351,6 +1351,31 @@ int freenect_set_smoothing_mode(freenect_device* dev, const freenect_smoothing_m
 	}
 }
 
+int freenect_set_range_mode(freenect_device* dev, const freenect_range_mode mode)
+{
+	if (dev->hwrev != HWREV_K4W_0)
+		return -1;
+
+	int retval = 0;
+	switch(mode) {
+	case FREENECT_RANGE_DEFAULT:
+		retval = write_register(dev, 0x0015, 0x001E);
+		if (retval != 0)
+			return retval;
+		usleep(100000);
+		retval = write_register(dev, 0x02EF, 0x0190);
+		break;
+	case FREENECT_RANGE_NEAR_MODE:
+		retval = write_register(dev, 0x0015, 0x0007);
+		if (retval != 0)
+			return retval;
+		usleep(100000);
+		retval = write_register(dev, 0x02EF, 0x0000);
+		break;
+	}
+	return retval;
+}
+
 int freenect_set_depth_buffer(freenect_device *dev, void *buf)
 {
 	return stream_setbuf(dev->parent, &dev->depth, buf);