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* dfsg: (84 commits) Fix stupid comparison mistake in audio serial fallback Update CMakeList.txt and ebuild for v0.5.0 c_sync: Collapse unused functions Configure audio support at runtime - fixes OpenKinect#372 Use audio serial as a fallback for K4W and 1473 models that do not provide a useful camera serial (thanks @olzhas). Fixes OpenKinect#360 and resolves OpenKinect#393. Remove legacy keep_alive.c; now require libusb >= 1.0.18 c_sync: Add freenect_sync_camera_to_world() (thanks @martyvona) - fixes OpenKinect#294 Fix a crash-on-exit in the OpenNI2 driver caused by using a deleted iterator. Cleanup imports in examples; also fixes a micview compile error on OS X. Allow freenect_set_tilt_degs to take a negative angle Update CMakeLists.txt for v0.4.3 win32: Fix command in examples/CMakeLists.txt ebuild: Improve python dependency - fixes OpenKinect#391 Standardize indentation in fnusb_open_subdevices Use non-infinite timeouts for bulk tilt / led commands Reset the audio device before using it to ensure the commands can be sent correctly Fixes OpenKinect#390 Update README.md and CMakeLists.txt for v0.4.2 Fix fakenect not handling freenect_process_events_timeout FN_DEBUG: print read_register and read_cmos_register replies Fix cmake module include order Fix cpack user option on linux Separate cpack options for different generators and add tgz generator Add cmake config file Fixes OpenKinect#355 wrappers/python: update freenect.c - fixes OpenKinect#326 ...
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| Original file line number | Diff line number | Diff line change |
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| ###################################################################################### | ||
| # OpenNI2-FreenectDriver | ||
| ###################################################################################### | ||
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| file(GLOB HEADERS src/*.hpp src/*.h) | ||
| file(GLOB SOURCES src/*.cpp) | ||
| add_library(FreenectDriver SHARED ${HEADERS} ${SOURCES}) | ||
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| set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-unused-function") | ||
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| set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib/OpenNI2-FreenectDriver) | ||
| set_target_properties(FreenectDriver PROPERTIES | ||
| VERSION ${PROJECT_VER} | ||
| SOVERSION ${PROJECT_APIVER} | ||
| OUTPUT_NAME FreenectDriver) | ||
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| add_definitions(-DPROJECT_VER="${PROJECT_VER}") | ||
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| include_directories(extern/OpenNI-Linux-x64-2.2.0.33/Include) | ||
| include_directories(${PROJECT_SOURCE_DIR}/wrappers/cpp) | ||
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| target_link_libraries(FreenectDriver freenectstatic ${MATH_LIB}) | ||
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| install (TARGETS FreenectDriver | ||
| DESTINATION "${PROJECT_LIBRARY_INSTALL_DIR}/OpenNI2-FreenectDriver") |
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| OpenNI2-FreenectDriver | ||
| ====================== | ||
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| OpenNI2-FreenectDriver is a bridge to libfreenect implemented as an OpenNI2 driver. | ||
| It allows OpenNI2 to use Kinect hardware on Linux and OSX. | ||
| It was originally a [separate project](https://github.com/piedar/OpenNI2-FreenectDriver) but is now distributed with libfreenect. | ||
| OpenNI2-FreenectDriver is distributed under the [Apache 2](https://github.com/OpenKinect/libfreenect/blob/master/APACHE20) license. | ||
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| Install | ||
| ------- | ||
| 1. Download and unpack [OpenNI](http://www.openni.org/openni-sdk/) 2.2.0.33 or higher. | ||
| 2. Go to the top libfreenect directory and build it with the OpenNI2 driver. | ||
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| mkdir build | ||
| cd build | ||
| cmake .. -DBUILD_OPENNI2_DRIVER=ON | ||
| make | ||
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| 3. Copy the driver to your OpenNI2 driver repository. You must first change `Repository` to match your project layout. | ||
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| Repository="/example/path/to/Samples/Bin/OpenNI2/Drivers/" | ||
| cp -L lib/OpenNI2-FreenectDriver/libFreenectDriver.{so,dylib} ${Repository} | ||
| # you could instead make a symlink to avoid copying after every build | ||
| # ln -s lib/OpenNI2-FreenectDriver/libFreenectDriver.{so,dylib} ${Repository} | ||
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| OpenNI2-FreenectDriver is built with a static libfreenect, so you do not need to include libfreenect when deploying. | ||
| However, you will need to make sure target systems have libusb and all other dependencies listed in `ldd libFreenectDriver.so`. | ||
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| __________________________________________________ | ||
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| Structure | ||
| --------- | ||
| This driver is modeled on TestDevice.cpp and Drivers/Kinect/. | ||
| In the FreenectDriver namespace, it ties together the C++ interfaces of OpenNI2 and libfreenect using multiple inheritance. | ||
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| Driver inherits publically from oni::driver::DriverBase and privately from Freenect::Freenect. | ||
| libfreenect.hpp allows protected access to the Freenect context, so that FreenectDriver can call the Freenect's C API. | ||
| As a DriverBase, FreenectDriver manages devices and sets up device state callbacks. | ||
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| Device inherits publically from oni::driver::DeviceBase and Freenect::FreenectDevice. | ||
| Because of this, it can be built by Freenect::Freenect::createDevice() and it can define Device's depth and video callbacks. | ||
| Those callbacks trigger acquireFrame() in FreenectStream. | ||
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| VideoStream is a virtual base class inheriting from oni::driver::StreamBase. | ||
| It does generic frame setup in buildFrame() and then calls pure virtual populateFrame() to let derived classes finish the frame. | ||
| It also provides the base skeleton for setting and getting properties, which cascades down the inheritance tree. | ||
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| DepthStream and ColorStream are nearly identical in definition and implementation, both inheriting from VideoStream. | ||
| They differ mostly in the formats they use to process data and the video modes they support. | ||
| These two classes offer a system to store and report supported video modes. | ||
| To implement a new mode, simply add it to getSupportedVideoModes() and modify populateFrame() as necessary. | ||
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| __________________________________________________ | ||
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| Todo | ||
| ---- | ||
| * support more FREENECT_RESOLUTION_\*, FREENECT_VIDEO_\*, and FREENECT_DEPTH_\* | ||
| * provide more OniVideoMode and OniStreamProperty | ||
| * implement remaining derived functions |
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