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cameras.c
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/*
* This file is part of the OpenKinect Project. http://www.openkinect.org
*
* Copyright (c) 2010 individual OpenKinect contributors. See the CONTRIB file
* for details.
*
* This code is licensed to you under the terms of the Apache License, version
* 2.0, or, at your option, the terms of the GNU General Public License,
* version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
* or the following URLs:
* http://www.apache.org/licenses/LICENSE-2.0
* http://www.gnu.org/licenses/gpl-2.0.txt
*
* If you redistribute this file in source form, modified or unmodified, you
* may:
* 1) Leave this header intact and distribute it under the same terms,
* accompanying it with the APACHE20 and GPL20 files, or
* 2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
* 3) Delete the GPL v2 clause and accompany it with the APACHE20 file
* In all cases you must keep the copyright notice intact and include a copy
* of the CONTRIB file.
*
* Binary distributions must follow the binary distribution requirements of
* either License.
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include "freenect_internal.h"
#include "registration.h"
#include "cameras.h"
#include "flags.h"
#define MAKE_RESERVED(res, fmt) (uint32_t)(((res & 0xff) << 8) | (((fmt & 0xff))))
#define RESERVED_TO_RESOLUTION(reserved) (freenect_resolution)((reserved >> 8) & 0xff)
#define RESERVED_TO_FORMAT(reserved) ((reserved) & 0xff)
#define video_mode_count 12
static freenect_frame_mode supported_video_modes[video_mode_count] = {
// reserved, resolution, format, bytes, width, height, data_bits_per_pixel, padding_bits_per_pixel, framerate, is_valid
{MAKE_RESERVED(FREENECT_RESOLUTION_HIGH, FREENECT_VIDEO_RGB), FREENECT_RESOLUTION_HIGH, {FREENECT_VIDEO_RGB}, 1280*1024*3, 1280, 1024, 24, 0, 10, 1 },
{MAKE_RESERVED(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB), FREENECT_RESOLUTION_MEDIUM, {FREENECT_VIDEO_RGB}, 640*480*3, 640, 480, 24, 0, 30, 1 },
{MAKE_RESERVED(FREENECT_RESOLUTION_HIGH, FREENECT_VIDEO_BAYER), FREENECT_RESOLUTION_HIGH, {FREENECT_VIDEO_BAYER}, 1280*1024, 1280, 1024, 8, 0, 10, 1 },
{MAKE_RESERVED(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_BAYER), FREENECT_RESOLUTION_MEDIUM, {FREENECT_VIDEO_BAYER}, 640*480, 640, 480, 8, 0, 30, 1 },
{MAKE_RESERVED(FREENECT_RESOLUTION_HIGH, FREENECT_VIDEO_IR_8BIT), FREENECT_RESOLUTION_HIGH, {FREENECT_VIDEO_IR_8BIT}, 1280*1024, 1280, 1024, 8, 0, 10, 1 },
{MAKE_RESERVED(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_IR_8BIT), FREENECT_RESOLUTION_MEDIUM, {FREENECT_VIDEO_IR_8BIT}, 640*488, 640, 488, 8, 0, 30, 1 },
{MAKE_RESERVED(FREENECT_RESOLUTION_HIGH, FREENECT_VIDEO_IR_10BIT), FREENECT_RESOLUTION_HIGH, {FREENECT_VIDEO_IR_10BIT}, 1280*1024*2, 1280, 1024, 10, 6, 10, 1 },
{MAKE_RESERVED(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_IR_10BIT), FREENECT_RESOLUTION_MEDIUM, {FREENECT_VIDEO_IR_10BIT}, 640*488*2, 640, 488, 10, 6, 30, 1 },
{MAKE_RESERVED(FREENECT_RESOLUTION_HIGH, FREENECT_VIDEO_IR_10BIT_PACKED), FREENECT_RESOLUTION_HIGH, {FREENECT_VIDEO_IR_10BIT_PACKED}, 1280*1024*10/8, 1280, 1024, 10, 0, 10, 1 },
{MAKE_RESERVED(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_IR_10BIT_PACKED), FREENECT_RESOLUTION_MEDIUM, {FREENECT_VIDEO_IR_10BIT_PACKED}, 640*488*10/8, 640, 488, 10, 0, 30, 1 },
{MAKE_RESERVED(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_YUV_RGB), FREENECT_RESOLUTION_MEDIUM, {FREENECT_VIDEO_YUV_RGB}, 640*480*3, 640, 480, 24, 0, 15, 1 },
{MAKE_RESERVED(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_YUV_RAW), FREENECT_RESOLUTION_MEDIUM, {FREENECT_VIDEO_YUV_RAW}, 640*480*2, 640, 480, 16, 0, 15, 1 },
};
#define depth_mode_count 6
static freenect_frame_mode supported_depth_modes[depth_mode_count] = {
// reserved, resolution, format, bytes, width, height, data_bits_per_pixel, padding_bits_per_pixel, framerate, is_valid
{MAKE_RESERVED(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT), FREENECT_RESOLUTION_MEDIUM, {FREENECT_DEPTH_11BIT}, 640*480*2, 640, 480, 11, 5, 30, 1},
{MAKE_RESERVED(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_10BIT), FREENECT_RESOLUTION_MEDIUM, {FREENECT_DEPTH_10BIT}, 640*480*2, 640, 480, 10, 6, 30, 1},
{MAKE_RESERVED(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT_PACKED), FREENECT_RESOLUTION_MEDIUM, {FREENECT_DEPTH_11BIT_PACKED}, 640*480*11/8, 640, 480, 11, 0, 30, 1},
{MAKE_RESERVED(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_10BIT_PACKED), FREENECT_RESOLUTION_MEDIUM, {FREENECT_DEPTH_10BIT_PACKED}, 640*480*10/8, 640, 480, 10, 0, 30, 1},
{MAKE_RESERVED(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_REGISTERED), FREENECT_RESOLUTION_MEDIUM, {FREENECT_DEPTH_REGISTERED}, 640*480*2, 640, 480, 16, 0, 30, 1},
{MAKE_RESERVED(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_MM), FREENECT_RESOLUTION_MEDIUM, {FREENECT_DEPTH_MM}, 640*480*2, 640, 480, 16, 0, 30, 1},
};
static const freenect_frame_mode invalid_mode = {0, (freenect_resolution)0, {(freenect_video_format)0}, 0, 0, 0, 0, 0, 0, 0};
struct pkt_hdr {
uint8_t magic[2];
uint8_t pad;
uint8_t flag;
uint8_t unk1;
uint8_t seq;
uint8_t unk2;
uint8_t unk3;
uint32_t timestamp;
};
static int stream_process(freenect_context *ctx, packet_stream *strm, uint8_t *pkt, int len, freenect_chunk_cb cb, void *user_data)
{
if (len < 12)
return 0;
struct pkt_hdr *hdr = (struct pkt_hdr*)pkt;
uint8_t *data = pkt + sizeof(*hdr);
int datalen = len - sizeof(*hdr);
freenect_loglevel l_info = LL_INFO;
freenect_loglevel l_notice = LL_NOTICE;
freenect_loglevel l_warning = LL_WARNING;
if (strm->valid_frames < 2)
l_info = l_notice = l_warning = LL_SPEW;
if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') {
FN_LOG(l_notice, "[Stream %02x] Invalid magic %02x%02x\n",
strm->flag, hdr->magic[0], hdr->magic[1]);
return 0;
}
FN_FLOOD("[Stream %02x] Packet with flag: %02x\n", strm->flag, hdr->flag);
uint8_t sof = strm->flag|1;
uint8_t mof = strm->flag|2;
uint8_t eof = strm->flag|5;
// sync if required, dropping packets until SOF
if (!strm->synced) {
if (hdr->flag != sof) {
FN_SPEW("[Stream %02x] Not synced yet...\n", strm->flag);
return 0;
}
strm->synced = 1;
strm->seq = hdr->seq;
strm->pkt_num = 0;
strm->valid_pkts = 0;
strm->got_pkts = 0;
}
int got_frame_size = 0;
// handle lost packets
if (strm->seq != hdr->seq) {
uint8_t lost = hdr->seq - strm->seq;
strm->lost_pkts += lost;
FN_LOG(l_info, "[Stream %02x] Lost %d packets\n", strm->flag, lost);
FN_DEBUG("[Stream %02x] Lost %d total packets in %d frames (%f lppf)\n",
strm->flag, strm->lost_pkts, strm->valid_frames, (float)strm->lost_pkts / strm->valid_frames);
if (lost > 5 || strm->variable_length) {
FN_LOG(l_notice, "[Stream %02x] Lost too many packets, resyncing...\n", strm->flag);
strm->synced = 0;
return 0;
}
strm->seq = hdr->seq;
int left = strm->pkts_per_frame - strm->pkt_num;
if (left <= lost) {
strm->pkt_num = lost - left;
strm->valid_pkts = strm->got_pkts;
strm->got_pkts = 0;
got_frame_size = strm->frame_size;
strm->timestamp = strm->last_timestamp;
strm->valid_frames++;
} else {
strm->pkt_num += lost;
}
}
int expected_pkt_size = (strm->pkt_num == strm->pkts_per_frame-1) ? strm->last_pkt_size : strm->pkt_size;
if (!strm->variable_length) {
// check the header to make sure it's what we expect
if (!(strm->pkt_num == 0 && hdr->flag == sof) &&
!(strm->pkt_num == strm->pkts_per_frame-1 && hdr->flag == eof) &&
!(strm->pkt_num > 0 && strm->pkt_num < strm->pkts_per_frame-1 && hdr->flag == mof)) {
FN_LOG(l_notice, "[Stream %02x] Inconsistent flag %02x with %d packets in buf (%d total), resyncing...\n",
strm->flag, hdr->flag, strm->pkt_num, strm->pkts_per_frame);
strm->synced = 0;
return got_frame_size;
}
// check data length
if (datalen > expected_pkt_size) {
FN_LOG(l_warning, "[Stream %02x] Expected max %d data bytes, but got %d. Dropping...\n",
strm->flag, expected_pkt_size, datalen);
return got_frame_size;
}
if (datalen < expected_pkt_size)
FN_LOG(l_warning, "[Stream %02x] Expected %d data bytes, but got %d\n",
strm->flag, expected_pkt_size, datalen);
} else {
// check the header to make sure it's what we expect
if (!(strm->pkt_num == 0 && hdr->flag == sof) &&
!(strm->pkt_num < strm->pkts_per_frame && (hdr->flag == eof || hdr->flag == mof))) {
FN_LOG(l_notice, "[Stream %02x] Inconsistent flag %02x with %d packets in buf (%d total), resyncing...\n",
strm->flag, hdr->flag, strm->pkt_num, strm->pkts_per_frame);
strm->synced = 0;
return got_frame_size;
}
// check data length
if (datalen > expected_pkt_size) {
FN_LOG(l_warning, "[Stream %02x] Expected max %d data bytes, but got %d. Resyncng...\n",
strm->flag, expected_pkt_size, datalen);
strm->synced = 0;
return got_frame_size;
}
if (datalen < expected_pkt_size && hdr->flag != eof) {
FN_LOG(l_warning, "[Stream %02x] Expected %d data bytes, but got %d. Resyncing...\n",
strm->flag, expected_pkt_size, datalen);
strm->synced = 0;
return got_frame_size;
}
}
// copy or chunk process the data
uint8_t *dbuf = strm->raw_buf + strm->pkt_num * strm->pkt_size;
if(cb){
cb(strm->raw_buf,data,strm->pkt_num,datalen,user_data);
}else{
memcpy(dbuf, data, datalen);
}
strm->pkt_num++;
strm->seq++;
strm->got_pkts++;
strm->last_timestamp = fn_le32(hdr->timestamp);
if (hdr->flag == eof) {
if (strm->variable_length)
got_frame_size = (dbuf - strm->raw_buf) + datalen;
else
got_frame_size = (dbuf - strm->raw_buf) + strm->last_pkt_size;
strm->pkt_num = 0;
strm->valid_pkts = strm->got_pkts;
strm->got_pkts = 0;
strm->timestamp = strm->last_timestamp;
strm->valid_frames++;
}
return got_frame_size;
}
static void stream_init(freenect_context *ctx, packet_stream *strm, int rlen, int plen)
{
strm->valid_frames = 0;
strm->synced = 0;
if (strm->usr_buf) {
strm->lib_buf = NULL;
strm->proc_buf = strm->usr_buf;
} else {
strm->lib_buf = malloc(plen);
strm->proc_buf = strm->lib_buf;
}
if (rlen == 0) {
strm->split_bufs = 0;
strm->raw_buf = (uint8_t*)strm->proc_buf;
strm->frame_size = plen;
} else {
strm->split_bufs = 1;
strm->raw_buf = (uint8_t*)malloc(rlen);
strm->frame_size = rlen;
}
strm->last_pkt_size = strm->frame_size % strm->pkt_size;
if (strm->last_pkt_size == 0)
strm->last_pkt_size = strm->pkt_size;
strm->pkts_per_frame = (strm->frame_size + strm->pkt_size - 1) / strm->pkt_size;
}
static void stream_freebufs(freenect_context *ctx, packet_stream *strm)
{
if (strm->split_bufs)
free(strm->raw_buf);
if (strm->lib_buf)
free(strm->lib_buf);
strm->raw_buf = NULL;
strm->proc_buf = NULL;
strm->lib_buf = NULL;
}
static int stream_setbuf(freenect_context *ctx, packet_stream *strm, void *pbuf)
{
if (!strm->running) {
strm->usr_buf = pbuf;
return 0;
} else {
if (!pbuf && !strm->lib_buf) {
FN_ERROR("Attempted to set buffer to NULL but stream was started with no internal buffer\n");
return -1;
}
strm->usr_buf = pbuf;
if (!pbuf)
strm->proc_buf = strm->lib_buf;
else
strm->proc_buf = pbuf;
if (!strm->split_bufs)
strm->raw_buf = (uint8_t*)strm->proc_buf;
return 0;
}
}
/**
* Convert a packed array of n elements with vw useful bits into array of
* zero-padded 16bit elements.
*
* @param src The source packed array, of size (n * vw / 8) bytes
* @param dest The destination unpacked array, of size (n * 2) bytes
* @param vw The virtual width of elements, that is the number of useful bits for each of them
* @param n The number of elements (in particular, of the destination array), NOT a length in bytes
*/
static inline void convert_packed_to_16bit(uint8_t *src, uint16_t *dest, int vw, int n)
{
unsigned int mask = (1 << vw) - 1;
uint32_t buffer = 0;
int bitsIn = 0;
while (n--) {
while (bitsIn < vw) {
buffer = (buffer << 8) | *(src++);
bitsIn += 8;
}
bitsIn -= vw;
*(dest++) = (buffer >> bitsIn) & mask;
}
}
/**
* Convert a packed array of n elements with vw useful bits into array of
* 8bit elements, dropping LSB.
*
* @param src The source packed array, of size (n * vw / 8) bytes
* @param dest The destination unpacked array, of size (n * 2) bytes
* @param vw The virtual width of elements, that is the number of useful bits for each of them
* @param n The number of elements (in particular, of the destination array), NOT a length in bytes
*
* @pre vw is expected to be >= 8.
*/
static inline void convert_packed_to_8bit(uint8_t *src, uint8_t *dest, int vw, int n)
{
uint32_t buffer = 0;
int bitsIn = 0;
while (n--) {
while (bitsIn < vw) {
buffer = (buffer << 8) | *(src++);
bitsIn += 8;
}
bitsIn -= vw;
*(dest++) = buffer >> (bitsIn + vw - 8);
}
}
// Loop-unrolled version of the 11-to-16 bit unpacker. n must be a multiple of 8.
static void convert_packed11_to_16bit(uint8_t *raw, uint16_t *frame, int n)
{
uint16_t baseMask = (1 << 11) - 1;
while(n >= 8)
{
uint8_t r0 = *(raw+0);
uint8_t r1 = *(raw+1);
uint8_t r2 = *(raw+2);
uint8_t r3 = *(raw+3);
uint8_t r4 = *(raw+4);
uint8_t r5 = *(raw+5);
uint8_t r6 = *(raw+6);
uint8_t r7 = *(raw+7);
uint8_t r8 = *(raw+8);
uint8_t r9 = *(raw+9);
uint8_t r10 = *(raw+10);
frame[0] = (r0<<3) | (r1>>5);
frame[1] = ((r1<<6) | (r2>>2) ) & baseMask;
frame[2] = ((r2<<9) | (r3<<1) | (r4>>7) ) & baseMask;
frame[3] = ((r4<<4) | (r5>>4) ) & baseMask;
frame[4] = ((r5<<7) | (r6>>1) ) & baseMask;
frame[5] = ((r6<<10) | (r7<<2) | (r8>>6) ) & baseMask;
frame[6] = ((r8<<5) | (r9>>3) ) & baseMask;
frame[7] = ((r9<<8) | (r10) ) & baseMask;
n -= 8;
raw += 11;
frame += 8;
}
}
static void depth_process(freenect_device *dev, uint8_t *pkt, int len)
{
freenect_context *ctx = dev->parent;
if (len == 0)
return;
if (!dev->depth.running)
return;
int got_frame_size = stream_process(ctx, &dev->depth, pkt, len,dev->depth_chunk_cb,dev->user_data);
if (!got_frame_size)
return;
FN_SPEW("Got depth frame of size %d/%d, %d/%d packets arrived, TS %08x\n", got_frame_size,
dev->depth.frame_size, dev->depth.valid_pkts, dev->depth.pkts_per_frame, dev->depth.timestamp);
switch (dev->depth_format) {
case FREENECT_DEPTH_11BIT:
convert_packed11_to_16bit(dev->depth.raw_buf, (uint16_t*)dev->depth.proc_buf, 640*480);
break;
case FREENECT_DEPTH_REGISTERED:
freenect_apply_registration(dev, dev->depth.raw_buf, (uint16_t*)dev->depth.proc_buf );
break;
case FREENECT_DEPTH_MM:
freenect_apply_depth_to_mm(dev, dev->depth.raw_buf, (uint16_t*)dev->depth.proc_buf );
break;
case FREENECT_DEPTH_10BIT:
convert_packed_to_16bit(dev->depth.raw_buf, (uint16_t*)dev->depth.proc_buf, 10, 640*480);
break;
case FREENECT_DEPTH_10BIT_PACKED:
case FREENECT_DEPTH_11BIT_PACKED:
break;
default:
FN_ERROR("depth_process() was called, but an invalid depth_format is set\n");
break;
}
if (dev->depth_cb)
dev->depth_cb(dev, dev->depth.proc_buf, dev->depth.timestamp);
}
#define CLAMP(x) if (x < 0) {x = 0;} if (x > 255) {x = 255;}
static void convert_uyvy_to_rgb(uint8_t *raw_buf, uint8_t *proc_buf, freenect_frame_mode frame_mode)
{
int x, y;
for(y = 0; y < frame_mode.height; ++y) {
for(x = 0; x < frame_mode.width; x+=2) {
int i = (frame_mode.width * y + x);
int u = raw_buf[2*i];
int y1 = raw_buf[2*i+1];
int v = raw_buf[2*i+2];
int y2 = raw_buf[2*i+3];
int r1 = (y1-16)*1164/1000 + (v-128)*1596/1000;
int g1 = (y1-16)*1164/1000 - (v-128)*813/1000 - (u-128)*391/1000;
int b1 = (y1-16)*1164/1000 + (u-128)*2018/1000;
int r2 = (y2-16)*1164/1000 + (v-128)*1596/1000;
int g2 = (y2-16)*1164/1000 - (v-128)*813/1000 - (u-128)*391/1000;
int b2 = (y2-16)*1164/1000 + (u-128)*2018/1000;
CLAMP(r1)
CLAMP(g1)
CLAMP(b1)
CLAMP(r2)
CLAMP(g2)
CLAMP(b2)
proc_buf[3*i] =r1;
proc_buf[3*i+1]=g1;
proc_buf[3*i+2]=b1;
proc_buf[3*i+3]=r2;
proc_buf[3*i+4]=g2;
proc_buf[3*i+5]=b2;
}
}
}
#undef CLAMP
static void convert_bayer_to_rgb(uint8_t *raw_buf, uint8_t *proc_buf, freenect_frame_mode frame_mode)
{
int x,y;
/* Pixel arrangement:
* G R G R G R G R
* B G B G B G B G
* G R G R G R G R
* B G B G B G B G
* G R G R G R G R
* B G B G B G B G
*
* To convert a Bayer-pattern into RGB you have to handle four pattern
* configurations:
* 1) 2) 3) 4)
* B1 B1 G1 B2 R1 G1 R2 R1 <- previous line
* R1 G1 R2 G2 R1 G3 G2 B1 G3 B1 G1 B2 <- current line
* B2 B3 G4 B4 R3 G4 R4 R2 <- next line
* ^ ^ ^
* | | next pixel
* | current pixel
* previous pixel
*
* The RGB values (r,g,b) for each configuration are calculated as
* follows:
*
* 1) r = (R1 + R2) / 2
* g = G1
* b = (B1 + B2) / 2
*
* 2) r = R1
* g = (G1 + G2 + G3 + G4) / 4
* b = (B1 + B2 + B3 + B4) / 4
*
* 3) r = (R1 + R2 + R3 + R4) / 4
* g = (G1 + G2 + G3 + G4) / 4
* b = B1
*
* 4) r = (R1 + R2) / 2
* g = G1
* b = (B1 + B2) / 2
*
* To efficiently calculate these values, two 32bit integers are used
* as "shift-buffers". One integer to store the 3 horizontal bayer pixel
* values (previous, current, next) of the current line. The other
* integer to store the vertical average value of the bayer pixels
* (previous, current, next) of the previous and next line.
*
* The boundary conditions for the first and last line and the first
* and last column are solved via mirroring the second and second last
* line and the second and second last column.
*
* To reduce slow memory access, the values of a rgb pixel are packet
* into a 32bit variable and transfered together.
*/
uint8_t *dst = proc_buf; // pointer to destination
uint8_t *prevLine; // pointer to previous, current and next line
uint8_t *curLine; // of the source bayer pattern
uint8_t *nextLine;
// storing horizontal values in hVals:
// previous << 16, current << 8, next
uint32_t hVals;
// storing vertical averages in vSums:
// previous << 16, current << 8, next
uint32_t vSums;
// init curLine and nextLine pointers
curLine = raw_buf;
nextLine = curLine + frame_mode.width;
for (y = 0; y < frame_mode.height; ++y) {
if ((y > 0) && (y < frame_mode.height-1))
prevLine = curLine - frame_mode.width; // normal case
else if (y == 0)
prevLine = nextLine; // top boundary case
else
nextLine = prevLine; // bottom boundary case
// init horizontal shift-buffer with current value
hVals = (*(curLine++) << 8);
// handle left column boundary case
hVals |= (*curLine << 16);
// init vertical average shift-buffer with current values average
vSums = ((*(prevLine++) + *(nextLine++)) << 7) & 0xFF00;
// handle left column boundary case
vSums |= ((*prevLine + *nextLine) << 15) & 0xFF0000;
// store if line is odd or not
uint8_t yOdd = y & 1;
// the right column boundary case is not handled inside this loop
// thus the "639"
for (x = 0; x < frame_mode.width-1; ++x) {
// place next value in shift buffers
hVals |= *(curLine++);
vSums |= (*(prevLine++) + *(nextLine++)) >> 1;
// calculate the horizontal sum as this sum is needed in
// any configuration
uint8_t hSum = ((uint8_t)(hVals >> 16) + (uint8_t)(hVals)) >> 1;
if (yOdd == 0) {
if ((x & 1) == 0) {
// Configuration 1
*(dst++) = hSum; // r
*(dst++) = hVals >> 8; // g
*(dst++) = vSums >> 8; // b
} else {
// Configuration 2
*(dst++) = hVals >> 8;
*(dst++) = (hSum + (uint8_t)(vSums >> 8)) >> 1;
*(dst++) = ((uint8_t)(vSums >> 16) + (uint8_t)(vSums)) >> 1;
}
} else {
if ((x & 1) == 0) {
// Configuration 3
*(dst++) = ((uint8_t)(vSums >> 16) + (uint8_t)(vSums)) >> 1;
*(dst++) = (hSum + (uint8_t)(vSums >> 8)) >> 1;
*(dst++) = hVals >> 8;
} else {
// Configuration 4
*(dst++) = vSums >> 8;
*(dst++) = hVals >> 8;
*(dst++) = hSum;
}
}
// shift the shift-buffers
hVals <<= 8;
vSums <<= 8;
} // end of for x loop
// right column boundary case, mirroring second last column
hVals |= (uint8_t)(hVals >> 16);
vSums |= (uint8_t)(vSums >> 16);
// the horizontal sum simplifies to the second last column value
uint8_t hSum = (uint8_t)(hVals);
if (yOdd == 0) {
if ((x & 1) == 0) {
*(dst++) = hSum;
*(dst++) = hVals >> 8;
*(dst++) = vSums >> 8;
} else {
*(dst++) = hVals >> 8;
*(dst++) = (hSum + (uint8_t)(vSums >> 8)) >> 1;
*(dst++) = vSums;
}
} else {
if ((x & 1) == 0) {
*(dst++) = vSums;
*(dst++) = (hSum + (uint8_t)(vSums >> 8)) >> 1;
*(dst++) = hVals >> 8;
} else {
*(dst++) = vSums >> 8;
*(dst++) = hVals >> 8;
*(dst++) = hSum;
}
}
} // end of for y loop
}
static void video_process(freenect_device *dev, uint8_t *pkt, int len)
{
freenect_context *ctx = dev->parent;
if (len == 0)
return;
if (!dev->video.running)
return;
int got_frame_size = stream_process(ctx, &dev->video, pkt, len,dev->video_chunk_cb,dev->user_data);
if (!got_frame_size)
return;
FN_SPEW("Got video frame of size %d/%d, %d/%d packets arrived, TS %08x\n", got_frame_size,
dev->video.frame_size, dev->video.valid_pkts, dev->video.pkts_per_frame, dev->video.timestamp);
freenect_frame_mode frame_mode = freenect_get_current_video_mode(dev);
switch (dev->video_format) {
case FREENECT_VIDEO_RGB:
convert_bayer_to_rgb(dev->video.raw_buf, (uint8_t*)dev->video.proc_buf, frame_mode);
break;
case FREENECT_VIDEO_BAYER:
break;
case FREENECT_VIDEO_IR_10BIT:
convert_packed_to_16bit(dev->video.raw_buf, (uint16_t*)dev->video.proc_buf, 10, frame_mode.width * frame_mode.height);
break;
case FREENECT_VIDEO_IR_10BIT_PACKED:
break;
case FREENECT_VIDEO_IR_8BIT:
convert_packed_to_8bit(dev->video.raw_buf, (uint8_t*)dev->video.proc_buf, 10, frame_mode.width * frame_mode.height);
break;
case FREENECT_VIDEO_YUV_RGB:
convert_uyvy_to_rgb(dev->video.raw_buf, (uint8_t*)dev->video.proc_buf, frame_mode);
break;
case FREENECT_VIDEO_YUV_RAW:
break;
default:
FN_ERROR("video_process() was called, but an invalid video_format is set\n");
break;
}
if (dev->video_cb)
dev->video_cb(dev, dev->video.proc_buf, dev->video.timestamp);
}
static int freenect_fetch_reg_info(freenect_device *dev)
{
freenect_context *ctx = dev->parent;
char reply[0x200];
uint16_t cmd[5];
freenect_frame_mode mode = freenect_get_current_video_mode(dev);
cmd[0] = fn_le16(0x40); // ParamID - in this scenario, XN_HOST_PROTOCOL_ALGORITHM_REGISTRATION
cmd[1] = fn_le16(0); // Format
cmd[2] = fn_le16((uint16_t)mode.resolution); // Resolution
cmd[3] = fn_le16((uint16_t)mode.framerate); // FPS
cmd[4] = fn_le16(0); // Offset
int res;
res = send_cmd(dev, 0x16, cmd, 10, reply, 118); // OPCODE_ALGORITHM_PARAMS
if(res != 118) {
FN_ERROR("freenect_fetch_reg_info: send_cmd read %d bytes (expected 118)\n", res);
return -1;
}
memcpy(&dev->registration.reg_info, reply + 2, sizeof(dev->registration.reg_info));
dev->registration.reg_info.ax = fn_le32s(dev->registration.reg_info.ax);
dev->registration.reg_info.bx = fn_le32s(dev->registration.reg_info.bx);
dev->registration.reg_info.cx = fn_le32s(dev->registration.reg_info.cx);
dev->registration.reg_info.dx = fn_le32s(dev->registration.reg_info.dx);
dev->registration.reg_info.ay = fn_le32s(dev->registration.reg_info.ay);
dev->registration.reg_info.by = fn_le32s(dev->registration.reg_info.by);
dev->registration.reg_info.cy = fn_le32s(dev->registration.reg_info.cy);
dev->registration.reg_info.dy = fn_le32s(dev->registration.reg_info.dy);
dev->registration.reg_info.dx_start = fn_le32s(dev->registration.reg_info.dx_start);
dev->registration.reg_info.dy_start = fn_le32s(dev->registration.reg_info.dy_start);
dev->registration.reg_info.dx_beta_start = fn_le32s(dev->registration.reg_info.dx_beta_start);
dev->registration.reg_info.dy_beta_start = fn_le32s(dev->registration.reg_info.dy_beta_start);
dev->registration.reg_info.dx_beta_inc = fn_le32s(dev->registration.reg_info.dx_beta_inc);
dev->registration.reg_info.dy_beta_inc = fn_le32s(dev->registration.reg_info.dy_beta_inc);
dev->registration.reg_info.dxdx_start = fn_le32s(dev->registration.reg_info.dxdx_start);
dev->registration.reg_info.dxdy_start = fn_le32s(dev->registration.reg_info.dxdy_start);
dev->registration.reg_info.dydx_start = fn_le32s(dev->registration.reg_info.dydx_start);
dev->registration.reg_info.dydy_start = fn_le32s(dev->registration.reg_info.dydy_start);
dev->registration.reg_info.dxdxdx_start = fn_le32s(dev->registration.reg_info.dxdxdx_start);
dev->registration.reg_info.dydxdx_start = fn_le32s(dev->registration.reg_info.dydxdx_start);
dev->registration.reg_info.dxdxdy_start = fn_le32s(dev->registration.reg_info.dxdxdy_start);
dev->registration.reg_info.dydxdy_start = fn_le32s(dev->registration.reg_info.dydxdy_start);
dev->registration.reg_info.dydydx_start = fn_le32s(dev->registration.reg_info.dydydx_start);
dev->registration.reg_info.dydydy_start = fn_le32s(dev->registration.reg_info.dydydy_start);
FN_SPEW("ax: %d\n", dev->registration.reg_info.ax);
FN_SPEW("bx: %d\n", dev->registration.reg_info.bx);
FN_SPEW("cx: %d\n", dev->registration.reg_info.cx);
FN_SPEW("dx: %d\n", dev->registration.reg_info.dx);
FN_SPEW("ay: %d\n", dev->registration.reg_info.ay);
FN_SPEW("by: %d\n", dev->registration.reg_info.by);
FN_SPEW("cy: %d\n", dev->registration.reg_info.cy);
FN_SPEW("dy: %d\n", dev->registration.reg_info.dy);
FN_SPEW("dx_start: %d\n", dev->registration.reg_info.dx_start);
FN_SPEW("dy_start: %d\n", dev->registration.reg_info.dy_start);
FN_SPEW("dx_beta_start: %d\n", dev->registration.reg_info.dx_beta_start);
FN_SPEW("dy_beta_start: %d\n", dev->registration.reg_info.dy_beta_start);
FN_SPEW("dx_beta_inc: %d\n", dev->registration.reg_info.dx_beta_inc);
FN_SPEW("dy_beta_inc: %d\n", dev->registration.reg_info.dy_beta_inc);
FN_SPEW("dxdx_start: %d\n", dev->registration.reg_info.dxdx_start);
FN_SPEW("dxdy_start: %d\n", dev->registration.reg_info.dxdy_start);
FN_SPEW("dydx_start: %d\n", dev->registration.reg_info.dydx_start);
FN_SPEW("dydy_start: %d\n", dev->registration.reg_info.dydy_start);
FN_SPEW("dxdxdx_start: %d\n", dev->registration.reg_info.dxdxdx_start);
FN_SPEW("dydxdx_start: %d\n", dev->registration.reg_info.dydxdx_start);
FN_SPEW("dxdxdy_start: %d\n", dev->registration.reg_info.dxdxdy_start);
FN_SPEW("dydxdy_start: %d\n", dev->registration.reg_info.dydxdy_start);
FN_SPEW("dydydx_start: %d\n", dev->registration.reg_info.dydydx_start);
FN_SPEW("dydydy_start: %d\n", dev->registration.reg_info.dydydy_start);
/*
// NOTE: Not assigned above
FN_SPEW("dx_center: %d\n", dev_reg_info->dx_center);
FN_SPEW("rollout_blank: %d\n", dev_reg_info->rollout_blank);
FN_SPEW("rollout_size: %d\n", dev_reg_info->rollout_size);
FN_SPEW("back_comp1: %d\n", dev_reg_info->back_comp1);
FN_SPEW("back_comp2: %d\n", dev_reg_info->back_comp2);
*/
return 0;
}
static int freenect_fetch_reg_pad_info(freenect_device *dev)
{
freenect_context *ctx = dev->parent;
char reply[0x200];
uint16_t cmd[5];
freenect_frame_mode mode = freenect_get_current_video_mode(dev);
cmd[0] = fn_le16(0x41); // ParamID
cmd[1] = fn_le16(0); // Format
cmd[2] = fn_le16((uint16_t)mode.resolution); // Resolution
cmd[3] = fn_le16((uint16_t)mode.framerate); // FPS
cmd[4] = fn_le16(0); // Offset
int res;
res = send_cmd(dev, 0x16, cmd, 10, reply, 8); // OPCODE_ALGORITHM_PARAMS
if(res != 8) {
FN_ERROR("freenect_fetch_reg_pad_info: send_cmd read %d bytes (expected 8)\n", res);
return -1;
}
memcpy(&dev->registration.reg_pad_info, reply+2, sizeof(dev->registration.reg_pad_info));
dev->registration.reg_pad_info.start_lines = fn_le16s(dev->registration.reg_pad_info.start_lines);
dev->registration.reg_pad_info.end_lines = fn_le16s(dev->registration.reg_pad_info.end_lines);
dev->registration.reg_pad_info.cropping_lines = fn_le16s(dev->registration.reg_pad_info.cropping_lines);
FN_SPEW("start_lines: %u\n",dev->registration.reg_pad_info.start_lines);
FN_SPEW("end_lines: %u\n",dev->registration.reg_pad_info.end_lines);
FN_SPEW("cropping_lines: %u\n",dev->registration.reg_pad_info.cropping_lines);
return 0;
}
static int freenect_fetch_reg_const_shift(freenect_device *dev)
{
freenect_context *ctx = dev->parent;
char reply[0x200];
uint16_t cmd[5];
freenect_frame_mode mode = freenect_get_current_video_mode(dev);
cmd[0] = fn_le16(0x00); // ParamID
cmd[1] = fn_le16(0); // Format
cmd[2] = fn_le16((uint16_t)mode.resolution); // Resolution
cmd[3] = fn_le16((uint16_t)mode.framerate); // FPS
cmd[4] = fn_le16(0); // Offset
int res;
res = send_cmd(dev, 0x16, cmd, 10, reply, 4); // OPCODE_ALGORITHM_PARAMS
if(res != 4) {
FN_ERROR("freenect_fetch_reg_const_shift: send_cmd read %d bytes (expected 8)\n", res);
return -1;
}
uint16_t shift;
memcpy(&shift, reply+2, sizeof(shift));
shift = fn_le16(shift);
dev->registration.const_shift = (double)shift;
FN_SPEW("const_shift: %f\n",dev->registration.const_shift);
return 0;
}
static int freenect_fetch_zero_plane_info(freenect_device *dev)
{
freenect_context *ctx = dev->parent;
char reply[0x200];
uint16_t cmd[5] = {0}; // Offset is the only field in this command, and it's 0
int res;
res = send_cmd(dev, 0x04, cmd, 10, reply, ctx->zero_plane_res); //OPCODE_GET_FIXED_PARAMS = 4,
if (res != ctx->zero_plane_res) {
FN_ERROR("freenect_fetch_zero_plane_info: send_cmd read %d bytes (expected %d)\n", res,ctx->zero_plane_res);
return -1;
}
memcpy(&(dev->registration.zero_plane_info), reply + 94, sizeof(dev->registration.zero_plane_info));
union {
uint32_t ui;
float f;
} conversion_union;
conversion_union.f = dev->registration.zero_plane_info.dcmos_emitter_dist;
conversion_union.ui = fn_le32(conversion_union.ui);
dev->registration.zero_plane_info.dcmos_emitter_dist = conversion_union.f;
conversion_union.f = dev->registration.zero_plane_info.dcmos_rcmos_dist;
conversion_union.ui = fn_le32(conversion_union.ui);
dev->registration.zero_plane_info.dcmos_rcmos_dist = conversion_union.f;
conversion_union.f = dev->registration.zero_plane_info.reference_distance;
conversion_union.ui = fn_le32(conversion_union.ui);
dev->registration.zero_plane_info.reference_distance = conversion_union.f;
conversion_union.f = dev->registration.zero_plane_info.reference_pixel_size;
conversion_union.ui = fn_le32(conversion_union.ui);
dev->registration.zero_plane_info.reference_pixel_size = conversion_union.f;
// WTF is all this data? it's way bigger than sizeof(XnFixedParams)...
FN_SPEW("dcmos_emitter_distance: %f\n", dev->registration.zero_plane_info.dcmos_emitter_dist);
FN_SPEW("dcmos_rcmos_distance: %f\n", dev->registration.zero_plane_info.dcmos_rcmos_dist);
FN_SPEW("reference_distance: %f\n", dev->registration.zero_plane_info.reference_distance);
FN_SPEW("reference_pixel_size: %f\n", dev->registration.zero_plane_info.reference_pixel_size);
// FIXME: OpenNI seems to use a hardcoded value of 2.4 instead of 2.3 as reported by Kinect
dev->registration.zero_plane_info.dcmos_rcmos_dist = 2.4f;
return 0;
}
int freenect_start_depth(freenect_device *dev)
{
freenect_context *ctx = dev->parent;
int res;
if (dev->depth.running)
return -1;
dev->depth.pkt_size = DEPTH_PKTDSIZE;
dev->depth.flag = 0x70;
dev->depth.variable_length = 0;
switch (dev->depth_format) {
case FREENECT_DEPTH_REGISTERED:
case FREENECT_DEPTH_MM:
freenect_init_registration(dev);
case FREENECT_DEPTH_11BIT:
stream_init(ctx, &dev->depth, freenect_find_depth_mode(dev->depth_resolution, FREENECT_DEPTH_11BIT_PACKED).bytes, freenect_find_depth_mode(dev->depth_resolution, FREENECT_DEPTH_11BIT).bytes);
break;
case FREENECT_DEPTH_10BIT:
stream_init(ctx, &dev->depth, freenect_find_depth_mode(dev->depth_resolution, FREENECT_DEPTH_10BIT_PACKED).bytes, freenect_find_depth_mode(dev->depth_resolution, FREENECT_DEPTH_10BIT).bytes);
break;
case FREENECT_DEPTH_11BIT_PACKED:
case FREENECT_DEPTH_10BIT_PACKED:
stream_init(ctx, &dev->depth, 0, freenect_find_depth_mode(dev->depth_resolution, dev->depth_format).bytes);
break;
default:
FN_ERROR("freenect_start_depth() called with invalid depth format %d\n", dev->depth_format);
return -1;
}
res = fnusb_start_iso(&dev->usb_cam, &dev->depth_isoc, depth_process, 0x82, NUM_XFERS, PKTS_PER_XFER, DEPTH_PKTBUF);
if (res < 0)
return res;
write_register(dev, 0x105, 0x00); // Disable auto-cycle of projector
write_register(dev, 0x06, 0x00); // reset depth stream
switch (dev->depth_format) {
case FREENECT_DEPTH_11BIT:
case FREENECT_DEPTH_11BIT_PACKED:
case FREENECT_DEPTH_REGISTERED:
case FREENECT_DEPTH_MM:
write_register(dev, 0x12, 0x03);
break;
case FREENECT_DEPTH_10BIT:
case FREENECT_DEPTH_10BIT_PACKED:
write_register(dev, 0x12, 0x02);
break;
case FREENECT_DEPTH_DUMMY: // Returned already, hush gcc
break;
}
write_register(dev, 0x13, 0x01);
write_register(dev, 0x14, 0x1e);
write_register(dev, 0x06, 0x02); // start depth stream
write_register(dev, 0x17, 0x00); // disable depth hflip
dev->depth.running = 1;
return 0;
}
int freenect_start_video(freenect_device *dev)
{
freenect_context *ctx = dev->parent;
int res;
if (dev->video.running)
return -1;
dev->video.pkt_size = VIDEO_PKTDSIZE;
dev->video.flag = 0x80;
dev->video.variable_length = 0;
uint16_t mode_reg, mode_value;
uint16_t res_reg, res_value;
uint16_t fps_reg, fps_value;
uint16_t hflip_reg;
switch(dev->video_format) {
case FREENECT_VIDEO_RGB:
case FREENECT_VIDEO_BAYER:
if(dev->video_resolution == FREENECT_RESOLUTION_HIGH) {
mode_value = 0x00; // Bayer
res_value = 0x02; // 1280x1024
fps_value = 0x0f; // "15" Hz
} else if (dev->video_resolution == FREENECT_RESOLUTION_MEDIUM) {
mode_value = 0x00; // Bayer
res_value = 0x01; // 640x480
fps_value = 0x1e; // 30 Hz
} else {
FN_ERROR("freenect_start_video(): called with invalid format/resolution combination\n");
return -1;
}
mode_reg = 0x0c;
res_reg = 0x0d;
fps_reg = 0x0e;
hflip_reg = 0x47;
break;
case FREENECT_VIDEO_IR_8BIT:
case FREENECT_VIDEO_IR_10BIT:
case FREENECT_VIDEO_IR_10BIT_PACKED:
if(dev->video_resolution == FREENECT_RESOLUTION_HIGH) {
if(dev->depth.running) {
FN_ERROR("freenect_start_video(): cannot stream high-resolution IR at same time as depth stream\n");
return -1;
}
// Due to some ridiculous condition in the firmware, we have to start and stop the
// depth stream before the camera will hand us 1280x1024 IR. This is a stupid
// workaround, but we've yet to find a better solution.
write_register(dev, 0x13, 0x01); // set depth camera resolution (640x480)
write_register(dev, 0x14, 0x1e); // set depth camera FPS (30)
write_register(dev, 0x06, 0x02); // start depth camera
write_register(dev, 0x06, 0x00); // stop depth camera
mode_value = 0x00; // Luminance, 10-bit packed
res_value = 0x02; // 1280x1024
fps_value = 0x0f; // "15" Hz
} else if (dev->video_resolution == FREENECT_RESOLUTION_MEDIUM) {
mode_value = 0x00; // Luminance, 10-bit packed
res_value = 0x01; // 640x480
fps_value = 0x1e; // 30 Hz
} else {
FN_ERROR("freenect_start_video(): called with invalid format/resolution combination\n");
return -1;
}
mode_reg = 0x19;
res_reg = 0x1a;
fps_reg = 0x1b;
hflip_reg = 0x48;
break;
case FREENECT_VIDEO_YUV_RGB:
case FREENECT_VIDEO_YUV_RAW:
if(dev->video_resolution == FREENECT_RESOLUTION_MEDIUM) {
mode_value = 0x05; // UYUV mode
res_value = 0x01; // 640x480
fps_value = 0x0f; // 15Hz
} else {
FN_ERROR("freenect_start_video(): called with invalid format/resolution combination\n");
return -1;
}
mode_reg = 0x0c;
res_reg = 0x0d;
fps_reg = 0x0e;
hflip_reg = 0x47;
break;
default:
FN_ERROR("freenect_start_video(): called with invalid video format %d\n", dev->video_format);
return -1;
}
freenect_frame_mode frame_mode = freenect_get_current_video_mode(dev);
switch (dev->video_format) {
case FREENECT_VIDEO_RGB:
stream_init(ctx, &dev->video, freenect_find_video_mode(dev->video_resolution, FREENECT_VIDEO_BAYER).bytes, frame_mode.bytes);
break;
case FREENECT_VIDEO_BAYER:
stream_init(ctx, &dev->video, 0, frame_mode.bytes);
break;
case FREENECT_VIDEO_IR_8BIT:
stream_init(ctx, &dev->video, freenect_find_video_mode(dev->video_resolution, FREENECT_VIDEO_IR_10BIT_PACKED).bytes, frame_mode.bytes);