Expose depth smoothing mode register through API.

Signed-off-by: Rene Wagner <rwagner@informatik.uni-bremen.de>
renewagner · Mar 26, 2012 · b92239e · b92239e
1 parent 06e48e5
commit b92239e
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Showing 3 changed files with 43 additions and 1 deletion.
diff --git a/examples/glview.c b/examples/glview.c
@@ -71,6 +71,9 @@ int freenect_angle = 0;
 freenect_video_format requested_format = FREENECT_VIDEO_RGB;
 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;
+
 pthread_cond_t gl_frame_cond = PTHREAD_COND_INITIALIZER;
 int got_rgb = 0;
 int got_depth = 0;
@@ -178,6 +181,12 @@ void keyPressed(unsigned char key, int x, int y)
 			freenect_angle = -30;
 		}
 	}
+	if (key == 'm') {
+		if (requested_smoothing == FREENECT_SMOOTHING_DISABLED)
+			requested_smoothing = FREENECT_SMOOTHING_HOLE_FILLING_DEPTH_SMOOTHING_ENABLED;
+		else
+			requested_smoothing = FREENECT_SMOOTHING_DISABLED;
+	}
 }
 
 void ReSizeGLScene(int Width, int Height)
@@ -327,6 +336,10 @@ void *freenect_threadfunc(void *arg)
 			freenect_start_video(f_dev);
 			current_format = requested_format;
 		}
+		if (requested_smoothing != current_smoothing){
+			freenect_set_smoothing_mode(f_dev, requested_smoothing);
+			current_smoothing = requested_smoothing;
+		}
 	}
 
 	printf("\nshutting down streams...\n");
@@ -368,7 +381,7 @@ int main(int argc, char **argv)
 		return 1;
 	}
 
-	freenect_set_log_level(f_ctx, FREENECT_LOG_SPEW);
+	freenect_set_log_level(f_ctx, FREENECT_LOG_INFO);
 	freenect_select_subdevices(f_ctx, (freenect_device_flags)(FREENECT_DEVICE_CAMERA));
 
 	int nr_devices = freenect_num_devices (f_ctx);

diff --git a/include/libfreenect.h b/include/libfreenect.h
@@ -127,6 +127,12 @@ typedef struct {
 	int8_t is_valid;                /**< If 0, this freenect_frame_mode is invalid and does not describe a supported mode.  Otherwise, the frame_mode is valid. */
 } freenect_frame_mode;
 
+/// Enumeration of smoothing modes
+typedef enum {
+	FREENECT_SMOOTHING_DISABLED                             = 0,
+	FREENECT_SMOOTHING_HOLE_FILLING_DEPTH_SMOOTHING_ENABLED = 1,
+} freenect_smoothing_mode;
+
 /// Enumeration of LED states
 /// See http://openkinect.org/wiki/Protocol_Documentation#Setting_LED for more information.
 typedef enum {
@@ -615,6 +621,16 @@ FREENECTAPI freenect_frame_mode freenect_find_depth_mode(freenect_resolution res
  */
 FREENECTAPI int freenect_set_depth_mode(freenect_device* dev, const freenect_frame_mode mode);
 
+/**
+ * Enables or disables hole filling/depth smoothing.  The depth stream
+ * must be active as this appears to be reset when it is started.
+ *
+ * @param enable Whether to enable hole filling/depth smoothing
+ *
+ * @return 0 on success, < 0 on error
+ */
+FREENECTAPI int freenect_set_smoothing_mode(freenect_device* dev, const freenect_smoothing_mode mode);
+
 #ifdef __cplusplus
 }
 #endif

diff --git a/src/cameras.c b/src/cameras.c
@@ -1338,6 +1338,19 @@ int freenect_set_depth_mode(freenect_device* dev, const freenect_frame_mode mode
 	dev->depth_resolution = res;
 	return 0;
 }
+
+int freenect_set_smoothing_mode(freenect_device* dev, const freenect_smoothing_mode mode)
+{
+	switch(mode) {
+	case FREENECT_SMOOTHING_DISABLED:
+		return write_register(dev, 0x16, 0x00);
+		break;
+	case FREENECT_SMOOTHING_HOLE_FILLING_DEPTH_SMOOTHING_ENABLED:
+		return write_register(dev, 0x16, 0x01);
+		break;
+	}
+}
+
 int freenect_set_depth_buffer(freenect_device *dev, void *buf)
 {
 	return stream_setbuf(dev->parent, &dev->depth, buf);