1. Updated libfreenect_sync to support changing kinects and video types

2. Updated python wrappers to use new libfreenect_sync
3. Fixed a compile warning in fakenect
4. Updated python demos to match new wrapper
5. Added new python demo for multiple kinects (currently only uses one at a time)
6. Added opencv wrappers (credit: Andrew <amiller@dappervision.com>)
7. Added nogil to sync python calls (credit: Mathieu Virbel <mathieu@pymt.eu>)
8. Updated glpclview to use new sync interface, updated calibration parameters (credit: Andrew <amiller@dappervision.com>)
Signed-off-by: Brandyn A. White <bwhite@dappervision.com>

Author: Brandyn A. White

CMakeLists.txt

@@ -51,6 +51,7 @@ set (PROJECT_APIVER
 OPTION(BUILD_EXAMPLES "Build example programs" ON)
 OPTION(BUILD_FAKENECT "Build fakenect mock library" ON)
 OPTION(BUILD_C_SYNC "Build c synchronous library" ON)
+OPTION(BUILD_CV "Build OpenCV wrapper" OFF)
 OPTION(BUILD_AS3_SERVER "Build the Actionscript 3 Server Example" OFF)
 IF(PROJECT_OS_LINUX)
 	OPTION(BUILD_CPACK "Build an RPM or DEB using CPack" OFF)
@@ -112,6 +113,10 @@ IF(BUILD_C_SYNC)
   add_subdirectory (wrappers/c_sync)
 ENDIF()
 
+IF(BUILD_CV)
+  add_subdirectory (wrappers/opencv)
+ENDIF()
+
 IF(BUILD_AS3_SERVER)
   add_subdirectory(wrappers/actionscript)
 ENDIF()

examples/glpclview.c

@@ -54,179 +54,176 @@ int color = 1;          // Use the RGB texture or just draw it as color
 // nicolas burrus' posts.
 void LoadVertexMatrix()
 {
-	float f = 590.0f;
-	float a = -0.0030711f;
-	float b = 3.3309495f;
-	float cx = 340.0f;
-	float cy = 240.0f;
-	GLfloat mat[16] = {
-		1/f,     0,  0, 0,
-		0,    -1/f,  0, 0,
-		0,       0,  0, a,
-		-cx/f,cy/f, -1, b
-	};
-	glMultMatrixf(mat);
+    float fx = 594.21f;
+    float fy = 591.04f;
+    float a = -0.0030711f;
+    float b = 3.3309495f;
+    float cx = 339.5f;
+    float cy = 242.7f;
+    GLfloat mat[16] = {
+        1/fx,     0,  0, 0,
+        0,    -1/fy,  0, 0,
+        0,       0,  0, a,
+        -cx/fx, cy/fy, -1, b
+    };
+    glMultMatrixf(mat);
 }
 
 
 // This matrix comes from a combination of nicolas burrus's calibration post
 // and some python code I haven't documented yet.
 void LoadRGBMatrix()
 {
-	float mat[16] = {
-		  5.34866271e+02,   3.89654806e+00,   0.00000000e+00,   1.74704200e-02,
-		 -4.70724694e+00,  -5.28843603e+02,   0.00000000e+00,  -1.22753400e-02,
-		 -3.19670762e+02,  -2.60999685e+02,   0.00000000e+00,  -9.99772000e-01,
-		 -6.98445586e+00,   3.31139785e+00,   0.00000000e+00,   1.09167360e-02
-	};
-	glMultMatrixf(mat);
+    float mat[16] = {
+        5.34866271e+02,   3.89654806e+00,   0.00000000e+00,   1.74704200e-02,
+        -4.70724694e+00,  -5.28843603e+02,   0.00000000e+00,  -1.22753400e-02,
+        -3.19670762e+02,  -2.60999685e+02,   0.00000000e+00,  -9.99772000e-01,
+        -6.98445586e+00,   3.31139785e+00,   0.00000000e+00,   1.09167360e-02
+    };
+    glMultMatrixf(mat);
 }
 
 void mouseMoved(int x, int y)
 {
-	if (mx>=0 && my>=0) {
-		rotangles[0] += y-my;
-		rotangles[1] += x-mx;
-	}
-	mx = x;
-	my = y;
+    if (mx>=0 && my>=0) {
+        rotangles[0] += y-my;
+        rotangles[1] += x-mx;
+    }
+    mx = x;
+    my = y;
 }
 
 void mousePress(int button, int state, int x, int y)
 {
-	if (button == GLUT_LEFT_BUTTON && state == GLUT_DOWN) {
-		mx = x;
-		my = y;
-	}
-	if (button == GLUT_LEFT_BUTTON && state == GLUT_UP) {
-		mx = -1;
-		my = -1;
-	}
+    if (button == GLUT_LEFT_BUTTON && state == GLUT_DOWN) {
+        mx = x;
+        my = y;
+    }
+    if (button == GLUT_LEFT_BUTTON && state == GLUT_UP) {
+        mx = -1;
+        my = -1;
+    }
 }
 
 void DrawGLScene()
 {
-	short *depth = 0;
-	char *rgb = 0;
-	uint32_t ts;
-	if (freenect_sync_get_depth((void**)&depth, &ts) < 0)
-		return;
-	if (freenect_sync_get_rgb((void**)&rgb, &ts) < 0) {
-		free(depth);
-		return;
-	}
-
-	static unsigned int indices[480][640];
-	static short xyz[480][640][3];
-	int i,j;
-	for (i = 0; i < 480; i++) {
-		for (j = 0; j < 640; j++) {
-			xyz[i][j][0] = j;
-			xyz[i][j][1] = i;
-			xyz[i][j][2] = depth[i*640+j];
-			indices[i][j] = i*640+j;
-		}
-	}
-
-	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-	glLoadIdentity();
-
-	glPushMatrix();
-	glScalef(zoom,zoom,1);
-	glTranslatef(0,0,-3.5);
-	glRotatef(rotangles[0], 1,0,0);
-	glRotatef(rotangles[1], 0,1,0);
-	glTranslatef(0,0,1.5);
-
-	LoadVertexMatrix();
-
-	// Set the projection from the XYZ to the texture image
-	glMatrixMode(GL_TEXTURE);
-	glLoadIdentity();
-	glScalef(1/640.0f,1/480.0f,1);
-	LoadRGBMatrix();
-	LoadVertexMatrix();
-	glMatrixMode(GL_MODELVIEW);
-
-	glPointSize(1);
-
-	glEnableClientState(GL_VERTEX_ARRAY);
-	glVertexPointer(3, GL_SHORT, 0, xyz);
-	glEnableClientState(GL_TEXTURE_COORD_ARRAY);
-	glTexCoordPointer(3, GL_SHORT, 0, xyz);
-
-	if (color)
-		glEnable(GL_TEXTURE_2D);
-	glBindTexture(GL_TEXTURE_2D, gl_rgb_tex);
-	glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, rgb);
-
-	glPointSize(2.0f);
-	glDrawElements(GL_POINTS, 640*480, GL_UNSIGNED_INT, indices);
-	glPopMatrix();
-	glDisable(GL_TEXTURE_2D);
-
-	free(rgb);
-	free(depth);
-
-	glutSwapBuffers();
+    short *depth = 0;
+    char *rgb = 0;
+    uint32_t ts;
+    if (freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_DEPTH_11BIT) < 0)
+        return;
+    if (freenect_sync_get_video((void**)&rgb, &ts, 0, FREENECT_VIDEO_RGB) < 0) {
+        free(depth);
+        return;
+    }
+
+    static unsigned int indices[480][640];
+    static short xyz[480][640][3];
+    int i,j;
+    for (i = 0; i < 480; i++) {
+        for (j = 0; j < 640; j++) {
+            xyz[i][j][0] = j;
+            xyz[i][j][1] = i;
+            xyz[i][j][2] = depth[i*640+j];
+            indices[i][j] = i*640+j;
+        }
+    }
+
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+    glLoadIdentity();
+
+    glPushMatrix();
+    glScalef(zoom,zoom,1);
+    glTranslatef(0,0,-3.5);
+    glRotatef(rotangles[0], 1,0,0);
+    glRotatef(rotangles[1], 0,1,0);
+    glTranslatef(0,0,1.5);
+
+    LoadVertexMatrix();
+
+    // Set the projection from the XYZ to the texture image
+    glMatrixMode(GL_TEXTURE);
+    glLoadIdentity();
+    glScalef(1/640.0f,1/480.0f,1);
+    LoadRGBMatrix();
+    LoadVertexMatrix();
+    glMatrixMode(GL_MODELVIEW);
+
+    glPointSize(1);
+
+    glEnableClientState(GL_VERTEX_ARRAY);
+    glVertexPointer(3, GL_SHORT, 0, xyz);
+    glEnableClientState(GL_TEXTURE_COORD_ARRAY);
+    glTexCoordPointer(3, GL_SHORT, 0, xyz);
+
+    if (color)
+        glEnable(GL_TEXTURE_2D);
+    glBindTexture(GL_TEXTURE_2D, gl_rgb_tex);
+    glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, rgb);
+
+    glPointSize(2.0f);
+    glDrawElements(GL_POINTS, 640*480, GL_UNSIGNED_INT, indices);
+    glPopMatrix();
+    glDisable(GL_TEXTURE_2D);
+    glutSwapBuffers();
 }
 
 void keyPressed(unsigned char key, int x, int y)
 {
-	if (key == 27) {
-		freenect_sync_stop();
-		glutDestroyWindow(window);
-		exit(0);
-	}
-	if (key == 'w')
-		zoom *= 1.1f;
-	if (key == 's')
-		zoom /= 1.1f;
-	if (key == 'c')
-		color = !color;
+    if (key == 27) {
+        freenect_sync_stop();
+        glutDestroyWindow(window);
+        exit(0);
+    }
+    if (key == 'w')
+        zoom *= 1.1f;
+    if (key == 's')
+        zoom /= 1.1f;
+    if (key == 'c')
+        color = !color;
 }
 
 void ReSizeGLScene(int Width, int Height)
 {
-	glViewport(0,0,Width,Height);
-	glMatrixMode(GL_PROJECTION);
-	glLoadIdentity();
-	gluPerspective(60, 4/3., 0.3, 200);
-	glMatrixMode(GL_MODELVIEW);
+    glViewport(0,0,Width,Height);
+    glMatrixMode(GL_PROJECTION);
+    glLoadIdentity();
+    gluPerspective(60, 4/3., 0.3, 200);
+    glMatrixMode(GL_MODELVIEW);
 }
 
 void InitGL(int Width, int Height)
 {
-	glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
-	glEnable(GL_DEPTH_TEST);
-	glGenTextures(1, &gl_rgb_tex);
-	glBindTexture(GL_TEXTURE_2D, gl_rgb_tex);
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-	ReSizeGLScene(Width, Height);
+    glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
+    glEnable(GL_DEPTH_TEST);
+    glGenTextures(1, &gl_rgb_tex);
+    glBindTexture(GL_TEXTURE_2D, gl_rgb_tex);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+    ReSizeGLScene(Width, Height);
 }
 
 int main(int argc, char **argv)
 {
-	glutInit(&argc, argv);
+    glutInit(&argc, argv);
 
-	glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_ALPHA | GLUT_DEPTH);
-	glutInitWindowSize(640, 480);
-	glutInitWindowPosition(0, 0);
+    glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_ALPHA | GLUT_DEPTH);
+    glutInitWindowSize(640, 480);
+    glutInitWindowPosition(0, 0);
 
-	window = glutCreateWindow("LibFreenect");
+    window = glutCreateWindow("LibFreenect");
 
-	glutDisplayFunc(&DrawGLScene);
-	glutIdleFunc(&DrawGLScene);
-	glutReshapeFunc(&ReSizeGLScene);
-	glutKeyboardFunc(&keyPressed);
-	glutMotionFunc(&mouseMoved);
-	glutMouseFunc(&mousePress);
+    glutDisplayFunc(&DrawGLScene);
+    glutIdleFunc(&DrawGLScene);
+    glutReshapeFunc(&ReSizeGLScene);
+    glutKeyboardFunc(&keyPressed);
+    glutMotionFunc(&mouseMoved);
+    glutMouseFunc(&mousePress);
 
-	InitGL(640, 480);
+    InitGL(640, 480);
 
-	glutMainLoop();
+    glutMainLoop();
 
-	return 0;
+    return 0;
 }
 

fakenect/fakenect.c

@@ -200,7 +200,7 @@ int freenect_process_events(freenect_context *ctx) {
 			memcpy(&state, data, sizeof(state));
 		} else if (!already_warned) {
 			already_warned = 1;
-			printf("\n\nWarning: Accelerometer data has an unexpected size [%d] instead of [%ld].  The acceleration and tilt data will be substituted for dummy values.  This data was probably made with an older version of record (the upstream interface changes and we have to follow).\n\n", data_size, sizeof state);
+			printf("\n\nWarning: Accelerometer data has an unexpected size [%d] instead of [%u].  The acceleration and tilt data will be substituted for dummy values.  This data was probably made with an older version of record (the upstream interface changes and we have to follow).\n\n", data_size, sizeof state);
 		}
 		break;
 	}